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

Abstract

The application relates to an in-out warehouse sorting method and system suitable for different material boxes, which comprises the following steps: warehousing: a shelf trolley arrives at a first preset position, a system generates a warehousing task; the material boxes on the shelf trolley are scanned according to the warehousing task to obtain all the material box information; the AGV (Automatic Guided Vehicle) is photographed to obtain the material placing position and the pallet size; the material box is carried by a carrying mechanism, the bar code of the material box is input during the carrying process, the material box without the input bar code is transported out through a first conveying line, and the material box with the input bar code is classified and stored in the pallet on the AGV according to the warehousing task and the color and size of the material box; and the AGV carries the material box to a second predetermined position, the system generates an out-of-warehouse task, the AGV carrying the pallet is photographed to obtain the material box information in the pallet, and the material box with the required color and size is grabbed to the out-of-warehouse line to be transported out according to the out-of-warehouse task. The application can support multifunctional work requirements for the material boxes with different sizes and colors and individuals.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics, in particular to an in-out warehouse sorting method and system suitable for different material boxes. BACKGROUND

[0002] With the rapid development of production technology efficiency, the traditional material box unloading, sorting and warehousing process needs a lot of manpower input, and the fully automatic unloading, sorting and warehousing robot system can realize rapid and accurate unloading, sorting and warehousing of material boxes, greatly improving the efficiency of warehouse in-out processing and reducing the cost of manpower and material resources. The fully automatic unloading, sorting and warehousing robot system is an innovative weapon in the warehousing and logistics industry, and its working principle and application scene 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 are designed to process material boxes of the same SKU and the same color and size, and then form a motion path through robot fixed point teaching, which often cannot adapt to different sizes, colors and packaging, and does not support unloading, sorting, warehousing and other multifunctional integrated processing functions. SUMMARY

[0004] The present application provides an in-out warehouse sorting method and system suitable for different material boxes, which can sort material boxes of different sizes and colors and individuals, and support multifunctional work requirements.

[0005] To achieve the above purpose, the present application adopts the following technical scheme:

[0006] An in-out warehouse sorting method suitable for different material boxes is realized by an in-out warehouse sorting system, comprising:

[0007] Warehousing: the goods shelf trolley reaches the first predetermined position, and the system generates a warehousing task; the material boxes on the goods shelf trolley are scanned according to the warehousing task to obtain all the material box information, including the size and color of the material box; the AGV vehicle located at the second predetermined position and carrying a tray is photographed to obtain the material placement position and the tray size; the carrying mechanism carries the material box from the goods shelf trolley, and the barcode of the material box is first entered during the carrying process; the material box without entering the barcode is placed in the abnormal outlet and transported out by the first conveying line, and the material box with entered barcode is placed in the tray on the AGV vehicle according to the warehousing task and the color and size of the material box for warehousing classification;

[0008] Out-of-warehouse: the AGV vehicle carries the material box to the second predetermined position, the system generates an out-of-warehouse task, the AGV vehicle carrying the tray is photographed to obtain the material box information in the tray, including the size and color of the material box, and then the required color and size of the material box are grabbed to the out-of-warehouse line for transportation.

[0009] Preferably, the artificial feeding box warehousing further comprises the following steps:

[0010] The artificial feeds the box into the second conveying line and transports it to the third predetermined position, takes a photo of the box at the third predetermined position according to the warehousing task, obtains all the box information, the box information includes the size and color of the box, takes a photo of the AGV, and obtains the unloading position and the size of the tray; the carrying mechanism puts the box into the tray on the AGV according to the warehousing task, the color and size of the box, and classifies the warehousing, and scans the code of the box during the carrying process.

[0011] Preferably, during the warehousing process, the method further comprises the following steps:

[0012] If the box barcode cannot be entered, the carrying mechanism places the box in the abnormal outlet and transports it out of the first conveying line;

[0013] If the box needs to be sampled, the carrying mechanism directly carries the sampled box from the shelf trolley to the second conveying line and transports it out.

[0014] Preferably, the box used for artificial feeding box warehousing is a sampling box or an abnormal box with unentered box barcode.

[0015] Preferably, during the warehousing process, the box with entered barcode is put into the tray on the AGV according to the warehousing task and the color and size of the box, and classified for warehousing, which specifically comprises the following steps:

[0016] If the warehousing task requires boxes of the same color to be warehoused together, the carrying mechanism puts the boxes of the same color into the tray on the same AGV, and according to the size of the tray and the box, the tray is filled with boxes;

[0017] If the warehousing task requires boxes of the same size to be warehoused together, the carrying mechanism puts the boxes of the same size into the tray on the same AGV, and according to the size of the tray and the box, the tray is filled with boxes.

[0018] If the warehousing task does not require boxes of the same size or the same color to be warehoused together, the carrying mechanism puts the boxes into the tray according to the size of the tray and the box, and fills the tray on the AGV.

[0019] Preferably, during the warehousing process, the method further comprises the following steps:

[0020] The AGV needs to transport the box multiple times, and the AGV needs to take a photo every time it reaches the preset position to obtain the latest unloading position.

[0021] Preferably, during the warehousing process, the system also generates multiple warehousing addresses corresponding to multiple AGV vehicles, and the warehousing method further comprises: during the process of placing each material box on the tray, the trays of the multiple AGV vehicles are sequentially filled according to the principle of first photographing and then placing the material box.

[0022] An in-out warehouse sorting system suitable for different material boxes, for implementing the above in-out warehouse sorting method, comprising:

[0023] A shelf trolley for loading the material box and located at a first predetermined position;

[0024] A code scanner for scanning the bar code on the material box;

[0025] A first transport line for transporting the material box without entering the bar code out;

[0026] A second transport line for transporting the material box for sampling out or transporting the material box for sampling completion and the material box with the bar code to a second predetermined position;

[0027] An AGV vehicle carrying a tray for carrying the material box between a third predetermined position and a warehouse;

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

[0029] An industrial computer connected with the above first transport line, the above second transport line, the above code scanner, the above AGV vehicle, the above carrying mechanism and the above camera for controlling the operation of each mechanism.

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

[0031] The above clamping assembly comprises a driving mechanism and two clamping plates, and the two clamping plates are arranged at the output end of the above driving mechanism for driving the two clamping plates to approach or move away;

[0032] A clamping space is formed between the two clamping plates, and a stop block is arranged in the middle of the clamping space, which 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-falling mechanism, and the anti-falling mechanism comprises a rotatable reset baffle;

[0034] The baffle can rotate into the second clamping space under the action of the magazine, forming an opening for the magazine to enter, and the baffle resets to close the opening when the magazine enters the second clamping space.

[0035] Compared with the prior art, the present application has the following advantages:

[0036] 1. The method integrates warehousing, sorting, sampling, and code scanning into one, wherein the warehousing method can realize the warehousing of magazines of different specifications and different colors by setting a warehousing task and obtaining the size and color of the magazine and placing the magazine into the tray of the AGV vehicle according to the warehousing task and the size and color of the magazine, and can meet the warehousing needs of more users and be more widely applicable by setting the warehousing task according to the needs, and the unloading method can realize the unloading of magazines of different specifications and different colors by setting an unloading task and obtaining the size and color of the magazine and carrying the magazine from the tray of the AGV vehicle according to the unloading task and the size and color of the magazine, and can meet the unloading needs of more users and be more widely applicable by setting the unloading task according to the needs; thus, the entire method can support multifunctional work requirements for magazines of different sizes and colors and individuals.

[0037] 2. The system uses cameras and robots in cooperation with multifunctional clamps to improve the efficiency of warehousing and unloading and the multifunctional use of a device, and is suitable for a variety of sizes and specifications of magazines without limitation, and the warehousing and unloading effect is stable and accurate without damaging the materials; BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the description of the specific embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0039] Figure 1 The method block diagram of the magazine warehousing method in the embodiment of the present application;

[0040] Figure 2 The method block diagram of the magazine unloading method in the embodiment of the present application;

[0041] Figure 3 The method block diagram of the manual magazine feeding and warehousing method in the embodiment of the present application;

[0042] Figure 4 The overall schematic diagram of the system in the embodiment of the present application;

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

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

[0045] Legend of reference signs:

[0046] 1, shelf trolley; 2, code scanner; 3, first conveying line; 4, second conveying line; 5, AGV; 51, tray; 6, camera; 7, carrying mechanism; 71, moving device; 72, clamping assembly; 721, driving mechanism; 722, clamping plate; 723, first clamping space; 724, second clamping space; 725, stop block; 726, baffle. DETAILED DESCRIPTION

[0047] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0048] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms “first”, “second”, “third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connection” should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] The embodiment of the application provides an in-out warehouse sorting method suitable for different material boxes, which is realized through an in-out warehouse sorting system, and the method specifically comprises warehousing and out-of-warehouse, wherein the warehousing is that the material box is carried from the goods shelf trolley to the AGV vehicle through the carrying mechanism, and then the material box is transported into the warehouse through the AGV vehicle, wherein the out-of-warehouse is that the material box is taken from the warehouse through the AGV vehicle, the material box is transported to a specified position, and then the material box on the AGV vehicle is carried to the conveying line through the carrying mechanism and is conveyed out.

[0051] Specifically, as shown in the figure, Figure 1 The warehousing process is as follows:

[0052] When the goods 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 artificially set, so that the warehousing task in each warehousing can be adjusted according to actual needs;

[0053] The 3D line scanning camera scans the material box on the goods shelf trolley to obtain information of all the material boxes thereon, wherein the information of the material box includes the size and color of the material box, and specifically, after the 3D line scanning camera scans the goods shelf trolley, the system generates a 3D contour point cloud map of the material box, and then existing software algorithm is used to analyze the point cloud data to generate an existing algorithm model, and the existing algorithm model is transmitted to the carrying mechanism, and the carrying mechanism automatically plans an optimal material box carrying path through the generated algorithm model;

[0054] The 3D line scanning camera photographs the AGV vehicle at the carrying position, so that the system can obtain the size of the tray and the accurate position where the material box needs to be placed;

[0055] Then the system controls the carrying mechanism to carry the material box on the goods shelf trolley, first carries the material box to the code scanner, and records the bar code on the material box, so that the information of the material box can be recorded in the warehouse, wherein the carrying mechanism places the material box without recording the bar code to the abnormal outlet and transports it out through the first conveying line, and places the material box with recording the bar code into the tray on the AGV vehicle according to the warehousing task and the color and size of the material box to classify the warehousing.

[0056] Among them, the material box with recording the bar code is placed into the tray on the AGV vehicle according to the warehousing task and the color and size of the material box to classify the warehousing, mainly including three cases, as follows:

[0057] If the warehousing task requires boxes of the same color to be stored together, the handling mechanism will place boxes of the same color into a pallet on the same AGV vehicle, and fill the pallet with boxes according to the size of the pallet and the boxes, thereby achieving the warehousing classification of boxes of the same color. The above placement is limited to the color of the boxes. Therefore, in order to maximize the number of boxes that the AGV vehicle can carry each time, it is necessary to place the boxes in the pallet according to the size of each pallet and the size of the boxes, so that there is no extra space in the pallet, in order to ensure the carrying efficiency. It should be noted that the above placement process is existing technology and will not be described in detail.

[0058] If the warehousing task requires boxes of the same size to be stored together, the handling mechanism will place boxes of the same size into a pallet on the same AGV vehicle, and then place the boxes into the pallet according to the size of the pallet and the boxes, thereby achieving the warehousing classification of boxes of the same size. Furthermore, in order to maximize the number of boxes that the AGV vehicle can carry each time, it is necessary to place the boxes in the pallet according to the size of each pallet and the size of the boxes, so that there is no extra space in the pallet (of course, this is not absolute, there may be space left because there is no room to place the boxes), so as to ensure the carrying efficiency. It should be noted that the above placement process is existing technology and will not be described in detail.

[0059] If the warehousing task does not require items of the same size or color to be stored together, the handling mechanism can simply place the boxes into the AGV vehicle according to the size of the pallet and the box, and fill the pallet on the AGV vehicle. No other requirements are necessary.

[0060] The above-mentioned warehousing method, by setting warehousing tasks and obtaining the size and color of the boxes, and placing the boxes into the pallet of the AGV vehicle according to the warehousing tasks and the size and color of the boxes, can achieve the purpose of warehousing boxes of different specifications and colors. Moreover, by setting warehousing tasks according to needs, it can meet more of the users' box warehousing needs and has a wider range of applicable scenarios.

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

[0062] The AGV carries the material box to the second predetermined position, which is the loading or unloading position of the AGV's material box. The system generates an outbound task, which can be manually set so that the outbound task can be adjusted according to actual needs for each outbound.

[0063] Then the AGV carrying the tray is photographed by the 3D line scanning camera to obtain the information of the material box loaded in the tray, the information of the material box including the size and color of the material box, and then the material box of the required color and size is grabbed according to the outbound task to the outbound line for transportation, for example, the outbound task requires 5 material boxes of the same color, then the carrying mechanism carries 5 material boxes of the same color from the tray on the AGV in turn and places them on the outbound line for transportation, and then the remaining material boxes in the tray on the AGV are transported back to the warehouse.

[0064] The above outbound method can realize the purpose of outbound of material boxes of different specifications and different colors by setting the outbound task and obtaining the size and color of the material box, and carrying the material box from the tray of the AGV according to the inbound task and the size and color of the material box, and can meet the more outbound requirements of the user by setting the outbound task according to the requirement, and is more widely applicable.

[0065] Further, the inbound also includes manual feeding of material boxes, for example, Figure 3 As shown in the figure, the manual feeding of material boxes is as follows:

[0066] First, manually feed the material box to the second conveying line and transport it to the third predetermined position by the second conveying line, wherein the third movement position is the outlet of the second conveying line;

[0067] According to the inbound task, the material box at the third predetermined position is photographed to obtain all the material box information, the material box information including the size and color of the material box, and the AGV is photographed to obtain the material box unloading position and the tray size, then the carrying mechanism carries the material box to the corresponding AGV, and scans the code of the material box during the carrying process, wherein the carrying mechanism puts the material box into the tray on the AGV according to the inbound task and the color and size of the material box, the specific process is as described above, which will not be repeated here.

[0068] Specifically, in order to simplify the process, manual feeding of material boxes is generally carried out after the unloading of material boxes on the shelf trolley, of course, it can also be carried out independently.

[0069] Specifically, in the inbound process, the following process is also included:

[0070] If the material box barcode is not entered, the carrying mechanism places the material box at the abnormal outlet and transports it out of the first conveying line for manual processing;

[0071] If manual sampling of the material box is required, the carrying mechanism directly carries the sampled material box from the shelf trolley to the second conveying line for transportation, wherein the material box to be sampled can be set in the inbound task and determined by the manual.

[0072] Specifically, the material box used in the artificial feeding box warehousing is an abnormal material box that is a sampling material box or a material box whose barcode cannot be input. After the sampling material box and the abnormal material box are re-pasted with a barcode, they are transported to a third predetermined position through a second transport line, and then are carried into a tray on an AGV vehicle through a carrying mechanism.

[0073] Specifically, during the warehousing process, generally, the AGV vehicle needs to transport the material box back and forth multiple times, so when the AGV vehicle reaches the predetermined position each time, a 3D line scanning camera needs to take a photo of it to obtain the material placement position of the AGV vehicle each time. Because the position of the AGV vehicle deviates each time it reaches the second predetermined position, and the position of the tray also deviates to some extent, the latest position is obtained through the 3D line scanning camera to ensure that the carrying mechanism can accurately place the material box into the tray each time.

[0074] Specifically, during the warehousing process, the system also generates a plurality of warehousing addresses, each warehousing address corresponding to a warehouse position where a material box is stored, and the plurality of warehousing addresses correspond to a plurality of AGV vehicles. The plurality of AGV vehicles transport the material box to the warehouse positions corresponding to the plurality of warehousing addresses. In order to ensure the accuracy of the AGV vehicle in placing the material box, during the process of placing the material box into the tray on the AGV vehicle each time, the trays of the plurality of AGV vehicles are filled in turn according to the principle of taking a photo first and placing the material box first. For example, three AGV vehicles, the first AGV vehicle is photographed first, and then the material box is placed into the tray on the AGV vehicle through the carrying mechanism according to the warehousing task. After being filled, the second AGV vehicle is photographed, and then the material box is placed into the tray on the AGV vehicle through the carrying mechanism according to the warehousing task. The third AGV vehicle is photographed, and then the material box is placed into the tray on the AGV vehicle through the carrying mechanism according to the warehousing task. After all the AGV vehicles are filled, the AGV vehicle carries the material box to the corresponding warehouse.

[0075] Of course, the embodiment of the application also specifically discloses an out-of-warehouse sorting system suitable for different material boxes, which is used to realize the above-mentioned out-of-warehouse sorting method. Figure 4As shown, specifically includes shelf trolley 1, code scanner 2, first transport line 3, second transport line 4, AGV car 5, carrying mechanism 7 and industrial computer; wherein the shelf trolley 1 is used to load the box, and moves to the first preset position to unload; the code scanner 2 is used to scan the bar code on the box, and the box to be stored in the warehouse is recorded in the warehouse; the first transport line 3 and the second transport line 4 are used to transport the box, wherein the first transport line 3 is used to transport the box without recording the bar code, that is, the abnormal box, and then the bar code is pasted by manual inspection, and the box after pasting the bar code is transported back by the second transport line 4 to continue to be stored in the warehouse, wherein the second transport line 4 is used to transport the box for sampling inspection, and then the box is transported back after sampling inspection, that is, the second transport line 4 is bidirectional transportation; the AGV car 5 carries a tray 51, the tray 51 is used to load the box, and is used to carry the box between the third preset position and the warehouse; wherein the carrying mechanism 7 is used to carry the box between the shelf trolley 1, the code scanner 2, the first transport line 3, the second transport line 4 and the AGV car 5, and the carrying end of the carrying mechanism 7 has a camera 6, the camera 6 is used to take a photo of the AGV car, the shelf trolley 1 and the box, so as to obtain the position (the position of the box) of the tray 51 on the AGV car, the information of all the boxes of the shelf trolley 1 and the information of the box on the second transport line 4, wherein the information of the box refers to the size and color of the box; the industrial computer is connected with the first transport line 3, the second transport line 4, the code scanner 2, the AGV car 5, the carrying mechanism 7 and the camera 6, and is used to control the operation of each mechanism.

[0076] Specifically, when storing in the warehouse, the shelf trolley 1 moves to the first preset position, and then the industrial computer generates a storage task, of course, the storage task is set by manual, the camera 6 on the carrying device scans the shelf trolley 1 to obtain all the box information, and then the camera 6 takes a photo of the AGV car 5 at the second preset position to obtain the position information of the tray 51, the carrying end of the carrying mechanism 7 carries the box from the shelf trolley 1 to the scanner to scan the code, the box after scanning the code is carried into the tray 51 on the AGV car 5, and the box without scanning the code is placed on the first transport line 3 and transported out, and the bar code is pasted by manual; then the box of the shelf trolley 1 is carried, the box with the pasted bar code and the box for sampling inspection is transported from the second transport line 4 by manual, transported to the third preset position, the camera 6 takes a photo of the box, and then takes a photo of the AGV car 5, and then the carrying mechanism 7 carries the box at the third preset position into the tray 51 on the AGV car 5, and the box for sampling inspection is set in the storage task and transported out from the second transport line 4 during the process of carrying the box; of course, the carrying mechanism 7 puts the box into the tray 51 on the AGV car 5 according to the storage task and the color and size of the box, and the specific carrying condition is introduced in the method, which will not be repeated here.

[0077] When the AGV 5 reaches the second preset position, the industrial computer generates an outbound task, and the carrying mechanism 7 drives the camera 6 to scan the AGV 5 to determine the position, color and size of the box, and then according to the outbound task, the box of the required color and size is grabbed to the outbound line for transportation. The specific grabbing process is not described again, which has been described in the above method.

[0078] Specifically, the carrying mechanism 7 includes a moving device 71 and a clamping assembly 72. The moving device 71 is a 6-axis industrial robot, and the clamping assembly 72 is arranged at the end of the moving device 71. Specifically, as shown in Figures 5-6 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 approach or move away from each other. Preferably, a clamping space is formed between the two clamping plates 722, and a stop block 725 is arranged in the middle of the clamping space. The stop block 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 box located directly below the driving mechanism 721, so as to avoid interference. 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, so as to facilitate the grabbing of the box in the shelf trolley 1, thereby making the application range of the clamping assembly 72 wider and facilitating the carrying of the box. In this embodiment, the driving mechanism 721 includes a servo motor, a lead screw, a driving nut and a driving plate. The servo motor is connected with the lead screw. The threads of the end of the lead screw close to the servo motor and the end of the lead screw away from the servo motor are different in direction. The driving nut and the driving plate are both two. The two driving nuts are respectively connected with the threaded rods at the two ends of the lead screw. The two driving plates are respectively connected with the lower ends of the two driving nuts. The two driving plates are respectively connected with the two clamping plates 722. Thus, the servo motor can drive the two clamping plates 722 to approach or move away from each other through the lead screw.

[0079] Specifically, the front end of the second clamping space 724 is provided with an anti-falling mechanism, and the anti-falling mechanism includes a resettable baffle 726. Specifically, the baffle 726 has one or two baffles 726 respectively rotatably arranged at the two clamping plates 722. The baffle 726 is rotatably connected to the inner side wall of the clamping plate 722 through a rotating shaft and is arranged at a water platform step on the inner side wall of the clamping plate 722. Then, a torsional spring is arranged between the lower side wall of the baffle 726 and the step and is sleeved on the rotating shaft. Thus, in the process of the material box entering the second clamping space 724, the baffle 726 can be rotated into the second clamping space 724 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 724, the baffle 726 is reset under the action of the torsional spring to close the opening or close part of the opening to block the material box from sliding away from the second clamping space 724. The applicable scenario is that the clamping assembly 72 extends into the shelf trolley 1 to clamp the material box. Specifically, the inner side wall of the two clamping plates 722 is provided with a boss for cooperating with the convex edge of the material box, so that the clamping of the material box is more stable.

[0080] The above embodiments are only preferred embodiments of the present application, and cannot be used to limit the protection scope of the present application. Any non-essential changes and replacements made by those skilled in the art on the basis of the present application shall fall within the protection scope of the present application.

Claims

1. A method for sorting in and out of a warehouse suitable for different cartridges, which is implemented by a sorting system in and out of a warehouse, characterized in that, The application comprises: Storage: the shelf trolley reaches the first preset position, and the system generates a storage task; According to the storage task, the magazine on the shelf trolley is scanned to obtain all the magazine information, the magazine information including the size and color of the magazine; the AGV carrying the tray located at the second predetermined position is photographed to obtain the magazine placement position and the tray size; the magazine is carried by the carrying mechanism from the shelf trolley, and in the carrying process, the magazine barcode is first entered; the magazine without barcode entry is placed in the abnormal outlet and transported out through the first conveying line; the magazine with barcode entry is placed in the tray on the AGV according to the storage task and the color and size of the magazine for storage classification; Delivery: the AGV carrying the magazine reaches the second predetermined position, and the system generates a delivery task; the AGV carrying the tray is photographed to obtain the magazine information in the tray, the magazine information including the size and color of the magazine, and then the magazine of the required color and size is grabbed to the delivery line for delivery according to the delivery task; It also includes manual magazine feeding for storage, as follows: The magazine is manually fed onto the second conveying line and transported to the third predetermined position; the magazine at the third predetermined position is photographed according to the storage task to obtain all the magazine information, the magazine information including the size and color of the magazine; the AGV is photographed to obtain the magazine placement position and the tray size; the carrying mechanism places the magazine in the tray on the AGV according to the storage task and the color and size of the magazine for storage classification, and the magazine is scanned during the carrying process; In the storage process, the magazine with barcode entry is placed in the tray on the AGV according to the storage task and the color and size of the magazine for storage classification, which specifically comprises: If the storage task requires magazines of the same color to be stored together, the carrying mechanism places the magazines of the same color in the tray on the same AGV, and according to the size of the tray and the magazine, the tray is filled with magazines; If the storage task requires magazines of the same size to be stored together, the carrying mechanism places the magazines of the same size in the tray on the same AGV, and according to the size of the tray and the magazine, the magazine is placed in the tray; If the storage task does not require magazines of the same size or the same color to be stored together, the carrying mechanism places the magazine according to the size of the tray and the magazine and fills the tray on the AGV.

2. The method of claim 1, wherein, In the storage process, it also includes: If the magazine barcode entry fails, the carrying mechanism places the magazine in the abnormal outlet and transports it out through the first conveying line; If the magazine needs to be sampled, the carrying mechanism directly carries the sampled magazine from the shelf trolley to the second conveying line for delivery.

3. The method of claim 2, wherein, The magazine used for manual magazine feeding for storage is a sampled magazine or an abnormal magazine with failed barcode entry.

4. The method of claim 1, wherein, In the storage process, the AGV needs to transport the magazine multiple times, and the AGV needs to take a photo every time it reaches the preset position to obtain the latest magazine placement position. In the storage process, the system also generates multiple storage addresses, and the multiple storage addresses correspond to multiple AGVs. The storage method further comprises: in the process of placing the magazine in the tray each time, the tray of each AGV is filled in turn according to the principle of taking a photo first and placing the magazine first.

5. The method of claim 1, wherein, It comprises:

6. A system for sorting in and out of a warehouse, suitable for different magazines, for implementing the method for sorting in and out of a warehouse according to any one of claims 1-5, characterized in that, A shelf trolley for loading magazines and located at a first predetermined position; A barcode scanner for scanning the barcode on the magazine; ​ The first conveying line is used for conveying the magazine without barcode to outside; The second conveying line is used for conveying the magazine for sampling to outside or conveying the magazine for sampling completion and the magazine with barcode to the second preset position; The AGV vehicle carries the tray and is used for carrying the magazine between the third preset position and the warehouse; The carrying mechanism is used for carrying the magazine between the shelf trolley, the code scanner, the first conveying line, the second conveying line and the AGV vehicle, and the carrying end of the carrying mechanism is provided with a camera; The industrial computer is connected with the first conveying line, the second conveying line, the code scanner, the AGV vehicle, the carrying mechanism and the camera, and is used for controlling the operation of each mechanism.

7. The system of claim 6, wherein, The carrying mechanism comprises a moving device and a clamping assembly, and the clamping assembly is arranged at the end of the moving device; The clamping assembly comprises a driving mechanism and two clamping plates, and the two clamping plates are arranged at the output end of the driving mechanism and are used for driving the two clamping plates to approach or move away from each other; The clamping space is formed between the two clamping plates, a stop block is arranged in the middle of the clamping space, the clamping space is divided into a first clamping space and a second clamping space by the stop block, the first clamping space is located below the driving mechanism, and the second clamping space is located in front of the driving mechanism.

8. The system of claim 7, wherein, The front end of the second clamping space is provided with an anti-falling mechanism, and the anti-falling mechanism comprises a turnable reset baffle; During the process that the magazine enters the second clamping space, the baffle can be turned into the second clamping space under the action of the magazine, so as to form an opening for the magazine to enter, and after the magazine enters the second clamping space, the baffle is reset to close the opening.

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