Multi-layer tool disc storage equipment and automatic tool disc storage and loading method

Abstract

The invention belongs to the field of wiredrawing production, and relates to multi-layer tool disc storage equipment and an automatic tool disc storage and feeding method. The multi-layer storage device comprises a portal frame, a shuttle vehicle and a three-dimensional moving carrying robot. The carrying robot is provided with a telescopic arm, a swing mechanism and a clamp. Shuttle vehicle rails are installed on the portal frame stand columns on the two sides, the shuttle vehicle is placed on the shuttle vehicle rails in a rolling mode, the carrying robot, the shuttle vehicle and the swing mechanism are electrically connected with a control system, and a control module is installed in the control system. According to the automatic tool disc storing and loading method, a control system is communicated with an inventory management system to achieve data interaction, goods allocation information and material parameter information of tool discs and position information of a shuttle vehicle are stored in the inventory management system, and the shuttle vehicle and a transfer robot are controlled to act through the inventory management system and the control system. And automatic storage and feeding of the tool plates are achieved. According to the tool tray storage device, the tool tray storage amount per unit area is increased, and the carrying efficiency of the tool trays is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of copper rod and aluminum rod wire drawing production, and specifically relates to a tooling tray multi-layer storage device and a tooling tray automatic storage and loading method, which are applied to the production of land cables and submarine cables. Background Art

[0002] At present, in the production process of cables, copper rods or aluminum rods are generally used as raw materials, and wire drawing of copper rods or aluminum rods is a necessary process. The carrier of the copper wire or aluminum wire generated after wire drawing of the copper rod or aluminum rod is a tooling reel; the production process is usually divided into a wire drawing process and a winding process. It is necessary to install an empty tooling reel on the winding equipment, and the copper wire or aluminum wire is wound into a reel on the tooling reel through the winding equipment. The full tooling reel is taken off the winding equipment and stored in the warehouse.

[0003] In order to ensure continuous production and improve production efficiency, dedicated storage space is required for empty tool trays and full tool trays to be wound. Traditional workshops pile tool trays on the ground near the equipment, and operators use gantry cranes to store full tool trays and move empty tool trays on and off the winding equipment. The handling efficiency is low, and the tool tray information needs to be manually counted and cannot be included in the warehouse management system.

[0004] In the current winding process, the storage and loading of tooling trays mainly have the following technical problems to be solved: 1. The tooling trays are stored directly on the workshop floor, and the tooling trays are placed in a messy manner, which squeezes the workshop space and affects other production lines; 2. Both the loading and unloading of empty tooling trays and the storage of full tooling trays require manual transportation using a gantry truck, and the tooling tray transportation efficiency is low during storage and loading; 3. The material information of the tooling trays needs to be manually entered, which is prone to errors and occupies labor costs. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a tooling tray multi-layer storage device and a tooling tray automatic storage and loading method. The technical solution adopted by the present invention is as follows: The gantry comprises an upper crossbeam, a column and an upper moving beam, and a plurality of the columns are evenly and parallelly arranged in the length direction of the ground of the tooling disk storage area and on both sides of a double-disk wire take-up machine. The upper crossbeam is installed on the top of the column, and two ends of the upper moving beam are slidably installed on the upper crossbeam. The handling robot is slidably installed on the upper moving beam, and a telescopic arm is arranged at the lower part of the handling robot, a rotating mechanism is arranged at the lower end of the telescopic arm, and a clamp is installed at the lower end of the rotating mechanism; a plurality of shuttle track support seats evenly distributed up and down are installed on the inner side surfaces of the columns on both sides of the length direction of the ground of the tooling disk storage area, and shuttle tracks are respectively installed on a plurality of shuttle track support seats with the same height on both sides, and a plurality of shuttles are rolled and placed on two shuttle tracks arranged relatively parallel; the handling robot, the shuttle and the rotating mechanism are all electrically connected to a control system, and a control module is installed in the control system.

[0006] Preferably, the two shuttle track support seats on both sides are of the same height, and the distance between the two shuttle track support seats adjacent to each other on the same column is greater than the height of the shuttle for processing and loading the tray.

[0007] Preferably, a second slide rail is arranged on the upper surface of the upper cross beam, and both ends of the upper movable beam are slidably installed on the second slide rail, and a second drive motor matching the second slide rail is arranged at the end of the upper movable beam, and a first slide rail is arranged on one side of the upper movable beam, and a handling robot is slidably installed on the first slide rail, and a first drive motor matching the first slide rail is arranged on one side of the handling robot.

[0008] Preferably, the first drive motor and the second drive motor are electrically connected to the control system Preferably, one end of the multi-layer storage device away from the double-reel wire take-up machine is a docking position, and several AGV vehicles are placed at the docking position.

[0009] Preferably, the AGV is electrically connected to the control system Preferably, the control system adopts an industrial computer.

[0010] A method for automatic storage and loading of tooling trays, using the aforementioned tooling tray multi-layer storage device, comprises the following steps: The control system is connected to the inventory management system to realize data interaction. The inventory management system stores the cargo location information and material parameter information of the tooling trays in the multi-layer storage device, and also stores the position information of the shuttle vehicle. The inventory management system sends a control command to the control system according to the received request for storage of a full tooling tray in the warehouse, or the request for removal of an empty tooling tray from the warehouse and loading it onto the tray. The control system controls the actions of the transport robot, the shuttle vehicle and the rotary mechanism respectively according to the received control command to complete the storage of the full tooling tray in the warehouse or the removal of the empty tooling tray from the warehouse and loading it onto the tray. After completion, the control system feeds back the result information to the inventory management system, and the inventory management system automatically updates the data information of the tooling tray multi-layer storage device.

[0011] Preferably, when the double-reel wire take-up machine needs to load an empty reel, it sends a signal to notify the inventory management system, and the inventory management system completes the removal and loading of the empty tooling reel through the control system, and gives priority to grabbing the empty tooling reel stored on the ground. If the empty tooling reel on the shuttle car is grabbed, the shuttle car and the handling robot move toward the double-reel wire take-up machine at the same time, and the shuttle car runs to a position close to the double-reel wire take-up machine, and the handling robot grabs the empty tooling reel to complete the loading. If there is a shuttle car above the empty tooling reel to be grabbed, the control system controls the shuttle car to move horizontally to make room for the handling robot to operate. When the double-reel wire take-up machine When a full pallet needs to be stored in the warehouse, a signal is sent to notify the inventory management system. The inventory management system allocates storage locations for the full pallets. The inventory management system compares the location information of the shuttle car with the information of the storage locations that can be allocated to determine whether the handling robot can move to the designated storage location. If the handling robot can move to the designated storage location, the control system controls the handling robot to directly transport the full pallet of workpieces to the designated storage location. If the designated storage location is blocked by the shuttle car above, the handling robot and the shuttle car move at the same time, and the shuttle car moves away to leave space for the handling robot to operate.

[0012] Preferably, when other production lines issue outbound demand information for full tool trays, the inventory management system finds the storage location according to the material parameters of the required tool trays, and transmits the coordinates to the control system. The inventory management system determines whether there is a shuttle vehicle blocking the handling robot and the outbound location. If there is no shuttle vehicle blocking it, the handling robot directly grabs it. If there is a shuttle vehicle blocking it, the shuttle vehicle and the handling robot move together, and the shuttle vehicle leaves room for the handling robot to operate. The handling robot grabs the full tool tray and places it at the docking position at the end of the multi-layer storage device. The AGV vehicle forks the full tool tray from the docking position and transfers it to the use position of the full tool tray. When other processes issue outbound demand information for empty tool trays, the inventory management system controls the AGV vehicle to place the empty tool tray at the docking position through the control system. The control system controls the handling robot to grab the empty tool tray from the docking position and transfer it to the storage location for placement. The empty tool tray is placed on the shuttle vehicle first. If there is a shuttle vehicle blocking the top of the storage location, the shuttle vehicle automatically moves to leave room for the handling robot to operate.

[0013] Beneficial effects of the present invention: 1. The present invention uses a handling robot to carry, store and place tooling trays, which are compactly placed, increase the storage capacity of tooling trays per unit area, save manpower, and improve the handling efficiency of tooling trays; 2. The present invention cleverly combines the gantry with a multi-layer shuttle to achieve multi-layer storage of tooling trays, which can reduce equipment complexity and cost, improve space utilization in the workshop, and reduce the ground storage area occupied by tooling trays; 3. In the present invention, all handling processes are unmanned, and the material information of the tooling trays can be automatically entered into the inventory management system, which is beneficial to the digital management of the workshop; 4. The handling robot and the shuttle of the present invention can move at the same time, reduce the moving distance of the upper moving beam, and improve the handling and storage efficiency; 5. The present invention uses a set of handling robots to complete the storage and loading tasks of tooling trays. At the same time, the handling robot is also the handling equipment of the storage equipment, and the equipment utilization rate is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a top view of the tooling tray multi-layer storage device and the double-disk take-up station of the first embodiment of the present invention; Figure 2 is a top view of the tooling tray storage area of ​​the first embodiment of the present invention; Figure 3 yes Figure 1 Right view of; Figure 4 is a schematic diagram of grabbing the bottommost tooling tray according to the second embodiment of the present invention; Figure 5 is a schematic diagram of grabbing the middle layer tooling tray according to the second embodiment of the present invention; Figure 6 is a schematic diagram of grabbing the uppermost tooling tray according to the second embodiment of the present invention; Figure 7 is a schematic diagram of an upper reel of a double-reel take-up machine according to a second embodiment of the present invention; In the figure, 1 is a handling robot, 2 is an upper beam, 3 is a column, 4 is a tooling disk, 5 is a double-disk wire take-up machine, 6 is an AGV vehicle, 7 is a shuttle vehicle, 8 is a shuttle vehicle track, 9 is a shuttle vehicle track support seat, 10 is a rotating mechanism, 11 is a clamp, 12 is an upper moving beam, 13 is a first drive motor, and 14 is a second drive motor. DETAILED DESCRIPTION

[0015] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Embodiment 1

[0016] like Figure 1-3 As shown ( Figure 3 The figure shows a multi-layer storage device for tooling trays (partial contents such as AGV 6 are hidden in the figure), which is used to store empty tooling trays and full tooling trays in the wire drawing workshop. The multi-layer storage device is fixedly arranged on one side of the double-disk wire take-up machine 5 in the wire drawing workshop. One end of the multi-layer storage device is adjacent to the winding end of the double-disk wire take-up machine 5 and is away from the wire inlet end of the double-disk wire take-up machine 5. The wire inlet end of the double-disk wire take-up machine 5 is connected to the wire drawing machine (not shown in the figure). Several AGVs 6 are placed at the other end of the multi-layer storage device. After the wire drawing machine draws the copper rod or aluminum rod into copper wire or aluminum wire, the copper wire or aluminum wire is automatically wound on the tooling tray 4 through the double-disk wire take-up machine 5.

[0017] The tooling disk multi-layer storage device includes a plurality of vertical columns 3 fixedly mounted on the ground. The plurality of columns 3 are evenly and parallelly arranged in the length direction of the ground of the tooling disk storage area and on both sides of the double-disk take-up machine 5. The top of the column 3 is fixedly connected to the upper beam 2, and the bottom of the column 3 is provided with a base. The column 3 is fixed to the ground through the anchor bolts passing through the base, thereby ensuring the stability of the column 3 when bearing weight. A second slide rail is arranged on the upper surface of the upper beam 2, and both ends of the upper moving beam 12 are slidably mounted on the second slide rail, wherein a second drive motor 14 is arranged at the end of the upper moving beam 12, and the upper moving beam 12 is driven by the second drive motor 14, thereby realizing the horizontal movement of the upper moving beam 12 along the upper beam 2. A first slide rail is arranged on one side surface of the upper moving beam 12, and the handling robot 1 is slidably mounted on the first slide rail. A first drive motor 13 is fixedly connected to one side of the handling robot 1, and the handling robot 1 is driven by the first drive motor 13, thereby realizing the horizontal movement of the handling robot 1 along the upper moving beam 12. The handling robot 1 is provided with a telescopic arm at the lower part, and a slewing mechanism 10 is provided at the lower end of the telescopic arm. A clamp 11 is fixedly installed at the lower end of the slewing mechanism 10. The clamp 11 can finally grasp and place the tooling tray 4 through three-dimensional movement and flexible rotation. The slewing mechanism 10 has a horizontal rotation function and can automatically rotate the tooling tray 4 to the direction required by the subsequent process as needed.

[0018] Two upper and lower shuttle rail support seats 9 are symmetrically fixed and welded to the middle and lower parts of the inner side surfaces of a pair of adjacent columns 3 on both sides of the length direction of the floor of the tooling tray storage area. The heights of the two opposite shuttle rail support seats 9 on both sides are the same. The distance between the two upper and lower adjacent shuttle rail support seats 9 on the same column 3 is slightly greater than the height of the shuttle 7 and the height of the processing tray 4. Shuttle rails 8 are welded to several shuttle rail support seats 9 of the same height on both sides, and several shuttles 7 are rolled and placed on two relatively parallel shuttle rails 8. The shuttles 7 can move horizontally on the shuttle rails 8. At least two shuttles 7 are set on each layer of shuttle rails 8.

[0019] The handling robot 1, AGV 6, shuttle 7, slewing mechanism 10, first drive motor 13 and second drive motor 14 are all electrically connected to a control system, in which a control module is installed, and the control system adopts an industrial computer. The control module in the industrial computer controls the horizontal movement of the shuttle 7, controls the fixture 11 on the slewing mechanism 10 to grab and place the tooling tray 4, and controls the AGV 6 to transport an empty tooling tray 4 or a full tooling tray 4 to a docking position.

[0020] The shuttle track 8 and the upper moving beam 12 are supported by a common column 3, which can save occupied space and increase the number of storage layers of the tooling tray 4 and the number of shuttles 7 on each layer according to the storage height space and length space.

[0021] A tooling tray multi-layer storage device provided in the first embodiment of the present invention can be installed and applied to the work site for storage, online, offline, and transportation of tooling trays in the wire drawing machine process in cable production. Embodiment 2

[0022] The method for automatically storing and loading tool disks of the tool disk multi-layer storage device described in the first embodiment includes the following steps: The tooling tray 4 is stored in a three-dimensional structure that combines a ground flat warehouse with a multi-layer shuttle 7. Full trays are automatically stored and empty trays are loaded onto trays by combining the handling robot 1 with the movement of the shuttle 7. The control system is connected to the enterprise's inventory management system (upper system) to realize data interaction. When the handling robot 1 stores the tooling tray 4 in the multi-layer storage device, the inventory management system binds the storage location of the tooling tray 4 and the material parameter information of the tooling tray 4. The storage and delivery of the tooling tray 4 are controlled by the inventory management system. The inventory management system stores the location information and material parameter information of the tooling tray 4 in the multi-layer storage device, and also stores the location information of the shuttle 7.

[0023] like Figure 4 As shown, the tool tray 4 at the bottom is stored on the ground. Since the full tool tray 4 is heavy, the full tool tray 4 is preferably stored on the ground at the bottom. When the handling robot 1 needs to grab the tool tray 4 at the bottom, if there is a shuttle 7 above the tool tray 4, the control system controls the shuttle 7 of the two upper layers corresponding to the tool tray 4 to move horizontally, making room for the space above the tool tray 4 to be grabbed, and ensuring that the tool tray 4 stored at the bottom can be grabbed by the handling robot 1.

[0024] like Figure 5 , 6 As shown, the tool trays 4 at the middle layer and the uppermost layer are stored using shuttle vehicles 7, and the shuttle vehicles 7 can reciprocate in the horizontal direction of the multi-layer storage device. If there is a shuttle vehicle 7 above the tool tray 4 at the middle layer, the control system controls the shuttle vehicle 7 at the uppermost layer corresponding to the tool tray 4 to move horizontally to make room for the tool tray 4 to be grabbed.

[0025] Double reel take-up machine 5 automatic empty reel steps: When the double-reel wire take-up machine 5 needs an empty tooling tray 4, the double-reel wire take-up machine 5 sends a signal to notify the inventory management system, and the inventory management system completes the removal and loading of the empty tooling tray 4 through the control system. The specific steps are: first grab the empty tooling tray 4 stored on the ground, and leave space for the subsequent placement of full tooling trays 4; you can also grab the empty tooling tray 4 stored on the shuttle 7 on the two upper layers. If you want to grab the empty tooling tray 4 stored on the shuttle 7, the shuttle 7 and the handling robot 1 will move toward the double-reel wire take-up machine 5 at the same time, and the shuttle 7 will run to the position closest to the double-reel wire take-up machine 5, and then the handling robot 1 will grab the tooling tray 4. By controlling the shuttle 7 and the handling robot 1 to move simultaneously through the control system, the movement time can be shortened and the efficiency of grabbing the tooling tray 4 can be improved.

[0026] Finally, the handling robot 1 places the empty tooling tray 4 on the double-disk wire take-up machine 5, and the control system feeds back to the inventory management system to complete the loading of the empty tray, and the inventory management system automatically updates the data information.

[0027] The steps for automatic storage of full tooling reels 4 (sent from the double-reel take-up machine 5 to the multi-layer storage device): When the tooling reel 4 on the double-reel wire take-up machine 5 is fully wound, the double-reel wire take-up machine 5 sends a signal to notify the inventory management system, and the inventory management system allocates a storage location for the full tooling reel 4.

[0028] The inventory management system compares the location information of the shuttle 7 with the information of the storage location that can be allocated, and determines whether the handling robot 1 can move to the designated storage location. If so (i.e., it is placed on the ground without being blocked by the shuttle 7), the handling robot 1 directly carries the full tooling tray 4 to the designated storage location. If there is a shuttle 7 blocking the designated storage location, the handling robot 1 and the shuttle 7 move at the same time, the shuttle 7 moves away to leave space for the handling robot 1 to operate, and the handling robot 1 moves to the designated location and places the full tooling tray 4 to the designated storage location.

[0029] After the full tooling tray 4 is placed in the designated storage location, the control system feeds back to the inventory management system to complete the storage of the full tooling tray 4, and the inventory management system automatically updates the data information.

[0030] Full tooling tray 4 is automatically shipped out of the warehouse: When other production lines after the wire drawing step send out demand information for a full tray 4, the inventory management system finds the storage location of the full tray 4 according to the material parameters of the required tray 4, and transmits the coordinates to the control system, which controls the handling robot 1 to complete the delivery.

[0031] The inventory management system determines whether there is a shuttle vehicle 7 blocking the transport robot 1 and the outbound cargo position. If there is no obstruction, the transport robot 1 can grab it directly. If there is a shuttle vehicle 7, after the shuttle vehicle 7 and the transport robot 1 move together, the transport robot 1 grabs the full tooling tray 4 and places it at the docking position at the right end of the multi-layer storage device. The AGV vehicle 6 forks the full tooling tray 4 from the docking position and transfers it to the use station of the next production link. The control system sends a signal to the inventory management system, and the full tooling tray 4 is automatically shipped out of the warehouse, and the inventory management system automatically updates the data information.

[0032] Empty tooling trays 4 generated by other processes are automatically put into storage: Other processes send signals to the inventory management system, which controls the AGV vehicle 6 to place the empty tool tray 4 at the docking position through the control system; the inventory management system controls the handling robot 1 to grab the empty tool tray 4 from the docking position through the control system, and transfer it to the storage location for placement. If there is a shuttle vehicle 7 above the storage location, the shuttle vehicle 7 automatically moves to leave space for the handling robot 1 to operate. After the handling robot 1 completes the storage of the empty tool tray 4, the control system sends a signal to the inventory management system, and the inventory management system automatically updates the data information.

[0033] If the fixed multi-layer shelves and operation methods in the prior art are used, the transport robot 1 can only take the tooling tray 4 on the top layer. The second embodiment of the present invention allows the transport robot 1 to grab the tooling tray 4 on any layer, or place the tooling tray 4 on any layer.

[0034] In the embodiments of the present invention, technical features that are not described in detail are all existing technologies or conventional technical means and will not be described in detail here.

[0035] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them, and the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any technician familiar with the technical field can modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered within the protection scope of the present invention.

Claims

1. A multi-layer storage device for tooling trays, comprising a gantry, a shuttle vehicle (7) and a handling robot (1), wherein the gantry comprises an upper crossbeam (2), a column (3) and an upper moving beam (12), characterized in that: A plurality of the columns (3) are evenly distributed and arranged in parallel on the length direction of the floor of the tooling disk storage area and on both sides of the double-disk wire take-up machine (5); an upper crossbeam (2) is installed on the top of the column (3); both ends of the upper movable beam (12) are slidably installed on the upper crossbeam (2); the handling robot (1) is slidably installed on the upper movable beam (12); a telescopic arm is arranged at the lower part of the handling robot (1); a slewing mechanism (10) is arranged at the lower end of the telescopic arm; a clamp (11) is installed at the lower end of the slewing mechanism (10); a plurality of shuttle track support seats (9) evenly distributed up and down are installed on the inner side surfaces of the columns (3) located on both sides of the length direction of the floor of the tooling disk storage area; shuttle tracks (8) are respectively installed on the plurality of shuttle track support seats (9) of the same height on both sides; and a plurality of shuttles (7) are rollingly placed on two relatively parallel shuttle tracks (8); the handling robot (1), the shuttle (7) and the slewing mechanism (10) are all electrically connected to a control system; a control module is installed in the control system.

2. The tooling disk multi-layer storage device according to claim 1, characterized in that: The two shuttle track support seats (9) on both sides are opposite to each other and have the same height. The distance between the two shuttle track support seats (9) adjacent to each other on the same column (3) is greater than the height of the shuttle (7) and the height of the processing tray (4).

3. The tooling disk multi-layer storage device according to claim 1, characterized in that: A second slide rail is arranged on the upper surface of the upper crossbeam (2), both ends of the upper movable beam (12) are slidably mounted on the second slide rail, a second drive motor (14) matching the second slide rail is arranged at the end of the upper movable beam (12), a first slide rail is arranged on one side of the upper movable beam (12), a handling robot (1) is slidably mounted on the first slide rail, and a first drive motor (13) matching the first slide rail is arranged on one side of the handling robot (1).

4. The tooling disk multi-layer storage device according to claim 1, characterized in that: The first drive motor (13) and the second drive motor (14) are electrically connected to the control system.

5. The tooling disk multi-layer storage device according to claim 1, characterized in that: One end of the multi-layer storage device away from the double-reel wire take-up machine (5) is a docking position, and a plurality of AGV vehicles (6) are placed at the docking position.

6. The tooling disk multi-layer storage device according to claim 1, characterized in that: The AGV vehicle (6) is electrically connected to the control system.

7. A tooling disk multi-layer storage device according to any one of claims 1 to 6, characterized in that: The control system adopts an industrial computer.

8. A method for automatically storing and loading tool trays, characterized in that: The use of a tooling disk multi-layer storage device as claimed in claim 1 comprises the following steps: The control system is connected to the inventory management system to realize data exchange. The inventory management system stores the cargo location information and material parameter information of the tooling tray (4) in the multi-layer storage device, and also stores the position information of the shuttle vehicle (7). The inventory management system sends a control command to the control system according to a received request for storage of a full tooling tray (4) in the warehouse, or a request for removal of an empty tooling tray (4) from the warehouse, and the control system controls the movement of the transport robot (1), the shuttle vehicle (7) and the rotary mechanism (10) according to the received control command, so as to complete the storage of the full tooling tray (4) in the warehouse, or the removal of the empty tooling tray (4) from the warehouse. After completion, the control system feeds back the result information to the inventory management system, and the inventory management system automatically updates the data information of the tooling tray multi-layer storage device.

9. The method for automatically storing and loading tool trays according to claim 8, characterized in that: When the double-reel wire take-up machine (5) needs to load an empty reel, it sends a signal to notify the inventory management system. The inventory management system completes the removal and loading of the empty tooling reel (4) through the control system, and gives priority to grabbing the empty tooling reel (4) stored on the ground. If the empty tooling reel (4) on the shuttle car (7) is grabbed, the shuttle car (7) and the handling robot (1) move toward the double-reel wire take-up machine (5) at the same time. The shuttle car (7) runs to a position close to the double-reel wire take-up machine (5), and the handling robot (1) grabs the empty tooling reel (4) to complete the loading. If there is a shuttle car (7) above the empty tooling reel (4) to be grabbed, the control system controls the shuttle car (7) to move horizontally to make room for the handling robot (1); when the double-reel wire take-up machine (5) is in a state of being moved, the shuttle car (7) moves horizontally to make room for the handling robot (1). When the reel take-up machine (5) needs to store a full reel into the warehouse, it sends a signal to notify the inventory management system. The inventory management system allocates a storage location for the full tooling tray (4). The inventory management system compares the position information of the shuttle car (7) with the information of the storage location that can be allocated, and determines whether the transport robot (1) can move to the designated storage location. If the transport robot (1) can move to the designated storage location, the control system controls the transport robot (1) to directly transport the full tooling tray (4) to the designated storage location. If the designated storage location is blocked by the shuttle car (7), the transport robot (1) and the shuttle car (7) move simultaneously, and the shuttle car (7) moves away to leave space for the transport robot (1) to operate.

10. The method for automatically storing and loading tool trays according to claim 8, characterized in that: When other production lines send out a request for full tool trays (4) to be shipped out, the inventory management system finds the storage location based on the material parameters of the required tool trays (4) and transmits the coordinates to the control system. The inventory management system determines whether there is a shuttle car (7) blocking the transport robot (1) and the shipping location. If there is no shuttle car (7) blocking the transport robot (1), the transport robot (1) directly grabs it. If there is a shuttle car (7) blocking it, the shuttle car (7) and the transport robot (1) move together, and the shuttle car (7) leaves space for the transport robot (1) to operate. The transport robot (1) grabs the full tool tray (4) and places it at the docking position at the end of the multi-layer storage device. The AGV vehicle (6) forks a full tool tray (4) from the docking position and transfers it to a working position where the full tool tray (4) is used; when other processes send out storage demand information for an empty tool tray (4), the inventory management system controls the AGV vehicle (6) to place the empty tool tray (4) at the docking position through the control system, and the control system controls the handling robot (1) to grab the empty tool tray (4) from the docking position and transfer it to the storage location for placement. The empty tool tray (4) is placed on the shuttle vehicle (7) first. If there is a shuttle vehicle (7) blocking the storage location, the shuttle vehicle (7) automatically moves to leave operating space for the handling robot (1).

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