Stacking system based on caching mechanism

Abstract

The invention provides a stacking system based on a cache mechanism, comprising: a feeding conveyor line for continuously conveying a plurality of target boxes of a plurality of orders into an operation space; the cache mechanism comprises a plurality of cache regions and is used for carrying out cache placement on the plurality of target box bodies; and the first mobile robot is used for grabbing the target box bodies on the feeding conveying line in the operation space and placing the target box bodies on the temporary storage mechanism, grabbing the target box bodies on the temporary storage area according to orders and placing the target box bodies on the corresponding trays for stacking, and forming corresponding box stack bodies after stacking is completed. Through the arrangement of the caching mechanism, multiple target box bodies of different orders can be temporarily stored, so that when the first mobile robot performs mixed stacking on the tray, multiple different choices can be provided, the stacking efficiency can be improved, and the stacking loading rate can be increased.

Description

Technical Field

[0001] The present invention relates to intelligent manufacturing and high-end manufacturing, and in particular to a palletizing system based on a buffer mechanism. Background Art

[0002] With the development of internet technology, e-commerce has also experienced explosive growth. Supermarkets, logistics warehouses, airport baggage systems, pharmacies, and modern factories are increasingly using automated management and sorting systems. For example, smart devices are being used to complete the picking, handling, and distribution of items.

[0003] Currently, mobile robots, such as automated guided vehicles (AGVs), are widely used in e-commerce and logistics. Furthermore, in smart factories, mobile robots are gradually replacing manual labor in material handling. However, the limited operating range of existing mobile robots' robotic arms makes them unsuitable for palletizing and stacking at high altitudes or with large amounts of material.

[0004] Palletizing is a core component of warehousing and factory logistics, and its automation and efficiency are crucial to the overall efficiency of factories and warehouses. Traditional palletizing mechanisms can only handle a single SKU and require manual pre-training, making them unable to meet the flexible demands of production line changes. Summary of the Invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a palletizing system based on a buffer mechanism.

[0006] The palletizing system based on the buffer mechanism provided by the present invention includes:

[0007] The feeding conveyor line is used to continuously convey multiple target boxes of multiple orders into the working space;

[0008] A cache mechanism, comprising a plurality of cache areas, for caching and placing a plurality of target boxes;

[0009] The first mobile robot is used to grab the target box on the feeding conveyor line in the working space and place it on the buffer mechanism, and to grab the target box on the buffer area according to the order and place it on the corresponding pallet for palletizing, and form a corresponding box stack after palletizing is completed.

[0010] Preferably, it further comprises: a mobile platform capable of moving freely;

[0011] The mobile platform is used to move to the lower side of the pallet, and then lift the box stack on the pallet to transport it to the target area and consign the empty pallet to the working space of the first mobile robot.

[0012] Preferably, the cache mechanism comprises multi-layer shelves; the shelves are arranged on the upper side of the feed conveyor line;

[0013] Each layer of the multi-layer shelf is configured as a buffer zone, and each buffer zone is used for caching target boxes of different or same orders.

[0014] Preferably, the first mobile robot is arranged at the end area of ​​the feeding conveyor line, and is used for continuously grabbing the target boxes on the feeding conveyor line and placing them into the corresponding buffer area.

[0015] Preferably, a plurality of trays are arranged in sequence to form a tray array;

[0016] A moving channel is formed between the two rows of tray arrays;

[0017] The moving channel is used for the movement of the first mobile robot during mobile palletizing;

[0018] The first mobile robot is used to move along the moving channel to the front side of a cache area of ​​the cache mechanism to grab a target box of an order, and then move along the moving channel to the front side of a pallet corresponding to the target box to stack the target box on the corresponding pallet.

[0019] Preferably, it also includes:

[0020] A code scanning mechanism, which is arranged on the upper side of the feeding conveyor line and is used to read the identification code on the target box to determine the product information of the target box according to the identification code;

[0021] A quality inspection mechanism is provided on the upper side of the feeding conveyor line and is used to obtain an image of the target box so as to perform quality inspection on the target box according to the image of the target box.

[0022] Preferably, the feed conveying line includes a buffer section;

[0023] The buffer section is located downstream of the feed conveyor line in the transmission direction and is within the operating range of the first mobile robot;

[0024] The cache segment is used to control the target box to decelerate and stop when the target box is transferred to the cache segment.

[0025] Preferably, the mobile robot comprises:

[0026] A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control instructions;

[0027] A first mechanical arm is provided at one end of the mobile base;

[0028] The first robotic arm is used to simultaneously and continuously grab the target boxes on the feed conveyor line and place them on the buffer mechanism, or continuously grab the target boxes on the buffer mechanism according to orders and place them on corresponding pallets for palletizing.

[0029] Preferably, the mobile robot comprises:

[0030] A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control instructions;

[0031] A first mechanical arm is provided at one end of the mobile base;

[0032] A second robotic arm is provided on the other end portion of the mobile base;

[0033] The first robotic arm and the second robotic arm are used to simultaneously and continuously grab the target boxes on the feed conveyor line and place them on the cache mechanism, or continuously grab the target boxes on the cache mechanism according to orders and place them on corresponding pallets for stacking.

[0034] Preferably, a warehouse management system is also included;

[0035] The warehouse management system establishes communication with the first mobile robot via a wired and / or wireless manner to send instructions to the first mobile robot to achieve the following tasks:

[0036] The first mobile robot is controlled to move to one side of the feeding conveyor line to perform grabbing and / or placing tasks.

[0037] Preferably, a second mobile robot is further included; the first mobile robot is arranged on one side of the cache mechanism, and the second mobile robot is arranged on the other side of the cache mechanism;

[0038] A first mobile robot is used to grab the target box on the feed conveyor line in the working space and place it on the buffer mechanism;

[0039] The second mobile robot is used to grab the target boxes on the buffer area according to the order and place them on the corresponding pallet for palletizing, and form a corresponding box stack after the palletizing is completed.

[0040] Preferably, when each target box is placed on the corresponding pallet for palletizing, the method includes: obtaining a point cloud map of the target box stored on the pallet through a 3D vision system, and generating a height map based on the point cloud map; clustering and stratifying the height map to form a plurality of layer spaces arranged in sequence from low to high, and constructing a free placement map in each layer space; each pixel point in the free placement map indicates whether the pixel point can support the target box in the layer space, and a plurality of pixel points that can achieve stable support for the target box form a stacking position; searching for the stacking position in the free placement map from the bottom layer to the upper layer, and when a stacking position exists, outputting the stacking position, which is used for the robot to place the target box; repeating the process until palletizing is completed.

[0041] Preferably, after each target box is placed on the corresponding pallet for palletizing, a stability test is required for each pair of target boxes already placed on the pallet, including:

[0042] The 3D vision system is used to collect images of the stack of target boxes that have been placed, and a three-dimensional image of the current stack is obtained;

[0043] Determine the center of gravity of the current stack according to the three-dimensional image of the current stack;

[0044] If the center of gravity of the current stack type is located within the support surface of the pallet, it is considered that the stability test requirements are met.

[0045] Preferably, when there are multiple stacking positions, selecting a target stacking position from the candidate stacking positions includes:

[0046] When the number of candidate stacking positions is greater than 1, each candidate stacking position is scored according to a preset scoring mechanism to obtain a score for each candidate stacking position;

[0047] Determine the priority of each candidate stacking location based on the score;

[0048] The candidate stacking position with the highest priority is used as the target stacking position.

[0049] The preset scoring mechanism includes any one or a combination of the following factors:

[0050] The candidate stacking position with a lower stacking layer plane height has a higher score;

[0051] The farther the candidate stacking location is from the robot body, the higher the score is.

[0052] The candidate stacking location closer to the pallet diagonal has a higher score.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] In the present invention, the feed conveyor line continuously conveys multiple target boxes of different orders into the working space, and the first mobile robot continuously grabs the target boxes on the feed conveyor line in the working space and places them on a cache mechanism, which includes multiple cache areas, and then continuously grabs the target boxes on the cache areas according to orders and places them on corresponding pallets for stacking, and forms corresponding box stacks after palletizing is completed, which not only can realize the sorting of target boxes of different orders, but also can realize the palletizing and automatic warehousing of target boxes of multiple orders, fully realize automated operation, and effectively improve the efficiency of the operation; in the present invention, through the setting of the cache mechanism, target boxes of multiple orders of different orders can be temporarily stored, which enables the first mobile robot to have multiple different choices when performing mixed-code palletizing on the pallet, which not only improves the efficiency of palletizing, but also improves the loading rate of palletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without inventive work. Other features, purposes and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0056] Figure 1 Schematic diagram of the structure of a palletizing system based on a buffer mechanism in an embodiment of the present invention;

[0057] Figure 2 Schematic diagram of the structure of a palletizing system based on a buffer mechanism in a modified example of the present invention;

[0058] Figure 3 This is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;

[0059] Figure 4 This is a schematic structural diagram of another mobile robot according to an embodiment of the present invention;

[0060] Figure 5 Schematic diagram of communication of a palletizing system based on a buffer mechanism in an embodiment of the present invention;

[0061] Figure 6 A schematic structural diagram of a clamp according to an embodiment of the present invention;

[0062] Figure 7 Schematic diagram of the structure of the clamp in a modified example of the present invention.

[0063] In the picture:

[0064] 1 is the feeding conveyor line; 2 is the first mobile robot; 3 is the cache mechanism; 4 is the second mobile robot; 5 is the pallet; 6 is the mobile platform; 7 is the warehouse management system; 201 is the mobile base; 202 is the first robotic arm; 203 is the second robotic arm; 204 is the suction cup assembly; 2042 is the back plate; 2041 is the suction cup main plate; 2043 is the suction cup; DETAILED DESCRIPTION

[0065] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0066] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the term "connected" can be used for both fixing and circuit connection.

[0067] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0069] Figure 1 FIG. 1 is a structural diagram of a palletizing system based on a buffer mechanism in an embodiment of the present invention. Figure 2 As shown, the palletizing system based on the buffer mechanism provided by the present invention includes:

[0070] Feed conveyor line 1, used to continuously convey multiple target boxes of multiple orders into the working space;

[0071] The cache mechanism 3 includes a plurality of cache areas for caching and placing a plurality of target boxes;

[0072] The first mobile robot 2 is used to grab the target box on the feeding conveyor line 1 in the working space and place it on a cache mechanism 3, and to grab the target box on the cache area according to the order and place it on the corresponding pallet 5 for palletizing, and form a corresponding box stack after palletizing is completed.

[0073] The mobile platform 6 can move freely, and the mobile platform 6 is used to move to the lower side of the pallet 5, and then lift the box stack on the pallet 5 to transport it to the target area and consign the empty pallet 5 to the working space of the first mobile robot 2.

[0074] In the embodiment of the present invention, the target box may have different sizes and specifications.

[0075] Figure 2 FIG. 1 is a structural diagram of a palletizing system based on a buffer mechanism in a modified embodiment of the present invention, as shown in FIG. Figure 2 As shown, the palletizing system based on the buffer mechanism provided by the present invention further includes a second mobile robot 4;

[0076] The first mobile robot 2 is arranged on one side of the cache mechanism 3, and the second mobile robot 4 is arranged on the other side of the cache mechanism 3;

[0077] The first mobile robot 2 is used to grab the target box on the feeding conveyor line 1 in the working space and place it on the buffer mechanism 3;

[0078] The second mobile robot 4 is used to grab the target boxes on the buffer area according to the order and place them on the corresponding pallet 5 for palletizing, and form a corresponding box stack after the palletizing is completed.

[0079] When using the palletizing system based on the buffer mechanism provided by the present invention, the following steps are included:

[0080] Controlling the feeding conveyor line 1 to continuously convey multiple target boxes of different orders to the working space of the first mobile robot 2;

[0081] Controlling the first mobile robot 2 to continuously grab target boxes on the feeding conveyor line 1 in the working space and place them on a buffer mechanism 3, wherein the buffer mechanism 3 includes a plurality of buffer areas;

[0082] Control the first mobile robot 2 to continuously grab the target boxes on the buffer area according to the order and place them on the corresponding pallet 5 for palletizing, and form a corresponding box stack after palletizing is completed;

[0083] When a stack of boxes is formed on a pallet 5, the mobile platform 6 is controlled to move to the lower side of the pallet, and then the stack of boxes on the pallet 5 is lifted up to be transported to the target area;

[0084] At the same time, another mobile platform 6 is controlled to transport the empty pallet 5 into the working space of the first mobile robot 2 to replace the pallet 5 that has been transported away.

[0085] In the embodiment of the present invention, the cache mechanism 3 includes multiple layers of shelves;

[0086] Each layer of the multi-layer shelf is configured as a buffer zone, and each buffer zone is used for caching target boxes of different or same orders.

[0087] The first mobile robot 2 is used to move along the extension direction of the feeding conveyor line 1 to continuously grab the target boxes on the feeding conveyor line 1 and place them in the corresponding buffer area.

[0088] A plurality of trays 5 are arranged in sequence to form a tray array;

[0089] A moving channel is formed between the cache mechanism 3 and the tray array;

[0090] The mobile channel is used for the movement of the first mobile robot 2 when performing mobile grasping;

[0091] The first mobile robot 2 is used to move along the moving channel to the front side of a cache area of ​​the cache mechanism 3 to grab a target box of an order, and then move along the moving channel to the front side of the pallet 5 corresponding to the target box to stack the target box on the corresponding pallet 5.

[0092] In an embodiment of the present invention, the cache mechanism 3 is provided with a warehouse management system. Whenever a corresponding target box is placed in a cache area, the warehouse management system updates the number of target boxes in the cache area by one. When the cache area is full of target boxes, the first mobile robot 2 is controlled to grab the target box in the cache area, which specifically includes the following steps:

[0093] The warehouse management system continuously updates the target number of boxes in each buffer area;

[0094] When the buffer area is full of target boxes, a grabbing instruction is generated and sent to the first mobile robot 2;

[0095] The first mobile robot 2 is controlled to continuously move the target boxes in the buffer area to the pallet 5 for palletizing.

[0096] When more than or equal to half of the target boxes in the buffer area are transported to the pallet 5, the target boxes of the feed conveyor line 1 are grabbed and placed in the buffer area again.

[0097] In an embodiment of the present invention, the palletizing system based on the buffer mechanism provided by the present invention further includes:

[0098] A code scanning mechanism, which is arranged on the upper side of the feeding conveyor line 1 and is used to read the identification code on the target box to determine the product information of the target box according to the identification code;

[0099] In an embodiment of the present invention, there are multiple code scanning mechanisms, and the multiple code scanning mechanisms are dispersedly distributed, such as respectively at the front, back, left, right and top, or 5 sets of code scanning mechanisms are arranged at the upper right, lower right, upper left, bottom and top, for scanning other surfaces of the target box except the bottom surface.

[0100] The product information of the target box can be transmitted to the first mobile robot 2 through the warehouse management system 7, so that the first mobile robot 2 can grab the target box according to the product information and place it in the corresponding buffer zone, or determine whether the incoming material is correct according to the product information of the target box, and issue an alarm message when the incoming material is incorrect.

[0101] A quality inspection mechanism is provided on the upper side of the feeding conveyor line 1 and is used to obtain an image of the target box so as to perform quality inspection on the target box according to the image of the target box.

[0102] In an embodiment of the present invention, the quality inspection organization may use a camera, such as a depth camera, to obtain the external dimensions of the target box and determine whether the items in the target box are at risk of damage based on the external dimensions of the target box. For example, when there is a depression in the target box and the area of ​​the depression is greater than 95% of the overall area of ​​the target box, it is considered that the items in the target box are at risk of damage.

[0103] The feed conveying line 1 includes a buffer section;

[0104] The buffer section is located downstream of the feed conveyor line 1 in the transmission direction and is within the operating range of the first mobile robot 2;

[0105] The cache segment is used to control the target box to decelerate and stop when the target box is transferred to the cache segment.

[0106] By setting the cache end, the first mobile robot 2 can keep the target box in a stationary state when grasping the target box, thereby effectively improving the success rate of grasping.

[0107] Figure 3 FIG. 1 is a structural diagram of a mobile robot according to an embodiment of the present invention. Figure 3 As shown, the mobile robot includes:

[0108] The mobile base 201 is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0109] A first robotic arm 202 is provided at one end of the mobile base 201;

[0110] The first robotic arm 202 is used to simultaneously and continuously grab the target boxes on the feed conveyor line 1 and place them on the buffer mechanism 3, or to continuously grab the target boxes on the buffer mechanism 3 according to orders and place them on the corresponding pallet 5 for palletizing.

[0111] Figure 4 FIG. 1 is a schematic diagram of the structure of another mobile robot according to an embodiment of the present invention. Figure 4 As shown, the mobile robot includes:

[0112] The mobile base 201 is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0113] A first robotic arm 202 is provided at one end of the mobile base 201;

[0114] The second robotic arm 203 is provided on the other end of the mobile base 201;

[0115] The first robotic arm 202 and the second robotic arm 203 are used to simultaneously and continuously grab the target boxes on the feed conveyor line 1 and place them on the cache mechanism 3, or continuously grab the target boxes on the cache mechanism 3 according to orders and place them on the corresponding pallet 5 for palletizing.

[0116] In an embodiment of the present invention, when the first robotic arm 202 grabs the target box on the feed conveyor line 1, the second robotic arm 203 places the target box grabbed from the feed conveyor line 1 on a target position on the cache mechanism 3, or when the first robotic arm 202 grabs the target box on the cache mechanism 3, the second robotic arm 203 places the target box grabbed from the cache mechanism 3 on the pallet 5 for palletizing operation, thereby improving the stability of the mobile robot.

[0117] In the embodiment of the present invention, the first robotic arm 202 and the second robotic arm 203 can be multi-axis robotic arms such as six-axis robotic arms, four-axis robotic arms, or eight-axis robotic arms, or can be scara robotic arms with three rotary joints suitable for assembly operations, or delta robots capable of high-precision material picking, etc. It is worth noting that in actual application scenarios, any automated device capable of grasping and transporting functions can be applied to the technical solution of the present invention.

[0118] Figure 5 FIG. 1 is a communication diagram of a palletizing system based on a buffer mechanism in an embodiment of the present invention. Figure 5 As shown, the palletizing system based on the buffer mechanism provided by the present invention further includes a warehouse management system 7;

[0119] The warehouse management system 7 establishes communication with the first mobile robot 2 and the second mobile robot 4 via a wired and / or wireless manner to send instructions to the first mobile robot 2 and the second mobile robot 4 to achieve the following tasks:

[0120] Controlling the first mobile robot to move to one side of the feeding conveyor line to perform grabbing and / or placing tasks;

[0121] The second robot 4 is controlled to move into the moving channel to perform grabbing and / or placing tasks.

[0122] In the embodiment of the present invention, the warehouse management system 7 can simultaneously control the first mobile robot 2, the second mobile robot 4, the mobile platform 6, the cache mechanism 3, the code scanning mechanism and the quality inspection mechanism.

[0123] In the embodiment of the present invention, a clamp is provided at the end of the first robotic arm 202 and the second robotic arm 203. The clamp may be a suction cup assembly 204. Figure 6 FIG. 1 is a schematic structural diagram of a fixture according to an embodiment of the present invention. Figure 6 As shown, the suction cup assembly 204 includes a back plate 2042, a suction cup main plate 2041, and suction cups 2043. The upper end surface of the back plate 2042 is connected to one side of the suction cup main plate 2041, and a right angle is formed between the back plate 2042 and the suction cup main plate 2041. A plurality of suction cups 2043 are provided on the lower side of the suction cup main plate 2041, and the target box is sucked by the suction cups 2043.

[0124] Figure 7 FIG. 1 is a schematic diagram of the structure of the clamp in a modified example of the present invention, as shown in FIG. Figure 7As shown, the clamp includes a horizontal mounting plate 2044, a vertical mounting plate 2046, a bottom supporting mechanism 2044 and a side suction mechanism 2047; the lower side of the horizontal mounting plate 2044 is provided with a first guide rail extending along the axial direction; the vertical mounting plate 2046 is vertically connected to the front end of the horizontal mounting plate 2044; the bottom supporting mechanism 20444 is connected to the first guide rail through a first slider, and is used to slide out along the first guide rail through the first slider 2 to lift the target object; the side suction mechanism 5 is provided on the vertical mounting plate, and is used to suck the target object sideways and pull it onto the bottom supporting mechanism 2044.

[0125] In an embodiment of the present invention, the feed conveyor line continuously conveys multiple target boxes of different orders into the working space, and the first mobile robot continuously grabs the target boxes on the feed conveyor line in the working space and places them on a cache mechanism, which includes multiple cache areas, and then continuously grabs the target boxes on the cache areas according to orders and places them on corresponding pallets for stacking, and forms corresponding box stacks after palletizing is completed, which not only can realize the sorting of target boxes of different orders, but also can realize the palletizing and automatic warehousing of target boxes of multiple orders, fully realize automated operation, and effectively improve the efficiency of the operation; in the present invention, through the setting of the cache mechanism, target boxes of multiple orders of different orders can be temporarily stored, which enables the first mobile robot to have multiple different choices when performing mixed-code palletizing on the pallet, which can not only improve the efficiency of palletizing, but also improve the loading rate of palletizing.

[0126] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be apparent to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0127] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A palletizing system based on a buffer mechanism, characterized in that: include: The feeding conveyor line is used to continuously convey multiple target boxes of multiple orders into the working space; A cache mechanism, comprising a plurality of cache areas, for caching and placing a plurality of target boxes; The first mobile robot is used to grab the target box on the feeding conveyor line in the working space and place it on the buffer mechanism, and to grab the target box on the buffer area and place it on the corresponding pallet for palletizing, and form a corresponding box stack after palletizing is completed.

2. The palletizing system based on the buffer mechanism according to claim 1, characterized in that: Also included: a mobile platform capable of free movement; The mobile platform is used to move to the lower side of the pallet, and then lift the box stack on the pallet to transport it to the target area and consign the empty pallet to the working space of the first mobile robot.

3. The palletizing system based on the buffer mechanism according to claim 1, characterized in that: The cache mechanism includes multi-layer shelves; the shelves are arranged on the upper side of the feed conveyor line; Each layer of the multi-layer shelf is configured as a buffer zone, and each buffer zone is used for caching target boxes of different or same orders.

4. The palletizing system based on the buffer mechanism according to claim 1, characterized in that: The first mobile robot is arranged at the end area of ​​the feeding conveyor line, and is used to continuously grab the target boxes on the feeding conveyor line and place them into the corresponding buffer area.

5. The palletizing system based on the buffer mechanism according to claim 1, characterized in that: Multiple trays are arranged in sequence to form a tray array; A moving channel is formed between the two rows of tray arrays; The moving channel is used for the movement of the first mobile robot during mobile palletizing; The first mobile robot is used to move along the moving channel to the front side of a cache area of ​​the cache mechanism to grab a target box of an order, and then move along the moving channel to the front side of a pallet corresponding to the target box to stack the target box on the corresponding pallet.

6. The palletizing system based on the buffer mechanism according to claim 1, characterized in that: Also includes: A code scanning mechanism, which is arranged on the upper side of the feeding conveyor line and is used to read the identification code on the target box to determine the product information of the target box according to the identification code; A quality inspection mechanism is provided on the upper side of the feeding conveyor line and is used to obtain an image of the target box so as to perform quality inspection on the target box according to the image of the target box.

7. The palletizing system based on a buffer mechanism according to claim 1, characterized in that: The feed conveying line includes a buffer section; The buffer section is located downstream of the feed conveyor line in the transmission direction and is within the operating range of the first mobile robot; The cache segment is used to control the target box to decelerate and stop when the target box is transferred to the cache segment.

8. The palletizing system based on a buffer mechanism according to claim 1, characterized in that: The mobile robot comprises: A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control instructions; A first mechanical arm is provided at one end of the mobile base; The first robotic arm is used to simultaneously and continuously grab the target boxes on the feed conveyor line and place them on the buffer mechanism, or continuously grab the target boxes on the buffer mechanism according to orders and place them on corresponding pallets for palletizing.

9. The palletizing system based on a buffer mechanism according to claim 1, characterized in that: The mobile robot comprises: A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control instructions; A first mechanical arm is provided at one end of the mobile base; A second robotic arm is provided on the other end portion of the mobile base; The first robotic arm and the second robotic arm are used to simultaneously and continuously grab the target boxes on the feed conveyor line and place them on the cache mechanism, or continuously grab the target boxes on the cache mechanism according to orders and place them on corresponding pallets for stacking.

10. The palletizing system based on the buffer mechanism according to claim 5, characterized in that: It also includes a warehouse management system; The warehouse management system establishes communication with the first mobile robot via a wired and / or wireless manner to send instructions to the first mobile robot to achieve the following tasks: The first mobile robot is controlled to move to one side of the feeding conveyor line to perform grabbing and / or placing tasks.

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