Automatic gearbox spindle assembly part sorting and dispatching logistics system and method

Abstract

The invention discloses an automatic gearbox spindle assembly part sorting and dispatching logistics system and method. A standby material area, a sorting material area, a robot working area and a sorting station conveying line are arranged in parallel. The sorting station conveying line is sequentially provided with an empty frame station, a working station and a discharging station in the conveying direction. The working positions are provided with a code scanning position, a working position 1, a cache position 1, a cache position 2 and a working position 2 in the conveying direction; the standby material area and the sorting material area are sequentially a first-shaft gear placing area, a first-shaft differential gear placing area, a second-shaft first-gear gear placing area, a second-shaft second-gear gear placing area, a second-shaft third-gear gear placing area, a second-shaft reverse-gear gear placing area and a second-shaft placing area in the conveying direction of the sorting station conveying line. Repeated ex-warehouse and in-warehouse operation is avoided, switching is smoother, production switching time is greatly shortened, work order switching time is saved by about 30%, data transmission interfaces are reduced, data chaos caused by network fluctuation or interface jamming is prevented, and data are more accurate.

Description

Technical Field

[0001] The present invention belongs to the field of automatic scheduling methods, and specifically relates to a logistics system and method for picking and scheduling parts of an automatic transmission main shaft assembly. Background Art

[0002] The dual-intermediate shaft AMT automatic transmission has a strong load-carrying capacity, smooth shifting, and is suitable for high torque requirements. However, its key components, the main shaft subassembly, are diverse, complex to assemble, and require high component logistics and distribution capabilities. A comprehensive picking and delivery scheduling strategy is required to achieve timely, accurate, and lean logistics and distribution. Currently, the following issues exist in the industry regarding the logistics and distribution of similar subassembly parts:

[0003] (1) A single gearbox main shaft subassembly contains a variety of gear shaft parts, and there are many types of gearbox assemblies on the same production line. In order to adapt to the parameter requirements of different OEMs for gearboxes, its main shaft subassembly is also divided into multiple models. At the same time, the gear shaft parts it consists of are also different. The various part numbers are arranged and combined, resulting in very complex material requirements for this workstation, which is a strict test for logistics distribution scheduling.

[0004] (2) In order to meet the above production requirements and taking into account the lean production concept, the SPS logistics distribution model is adopted (precise material distribution according to the needs of a single product on the production line). This model is suitable for a flexible manufacturing model with multiple varieties and small batches. However, this logistics model requires the decomposition of material requirements according to the work order requirements in the logistics picking preparation area, and all the parts required for a spindle assembly are identified and sorted, and then placed in a container and delivered to the line side by AGV. This product has many types of parts, heavy weight, and the gear parts have a high similarity in appearance. At present, domestic peers in the industry all perform manual picking. This model requires high labor costs and high labor intensity. It is difficult to distinguish and easily causes material preparation errors. If it flows into the production line and cannot be discovered in time, it will cause serious consequences.

[0005] (3) When picking the parts required for this sub-assembly, the material is loaded and the production is changed. Currently, the industry is unable to apply the remaining materials of the previous work order to the next work order for continued picking. Instead, the remaining materials of the previous wave are completely cleared first, and then the materials for the change of production are redistributed. This will seriously waste production time and reduce production efficiency. Summary of the Invention

[0006] The present invention provides a logistics system and method for picking and dispatching parts of an automatic transmission main shaft assembly, which solves the problem of material picking required for the main shaft assembly and meets the production requirements of automatic outbound delivery, sorting, distribution and seamless switching of work orders for all parts.

[0007] In order to solve the above problems, the technical solution adopted by the present invention is:

[0008] An automatic transmission spindle assembly parts picking and scheduling logistics system, parallel setup:

[0009] Reserve material area, picking material area, robot work area and picking station conveyor line;

[0010] The picking station conveyor line is equipped with empty frame position, working position and unloading position in sequence along the conveying direction;

[0011] The robot work area is equipped with robot work tracks, including robot No. 1 and robot No. 2;

[0012] The workstations are provided with a code scanning position, workstation 1, cache position 1, cache position 2 and workstation 2 along the conveying direction, and a No. 1 robot; half of the picked parts are completed by the No. 1 robot at workstation 1, and the other half of the picked parts are completed by the No. 2 robot at workstation 2;

[0013] The spare material area and the picking material area have corresponding workstations, and along the conveying direction of the picking workstation conveyor line are the first shaft gear placement area, the first shaft differential gear placement area, the second shaft first gear gear placement area, the second shaft second gear gear placement area, the second shaft third gear gear placement area, the second shaft reverse gear gear placement area and the second shaft placement area.

[0014] Optionally, a plurality of one-axis and two-axis sorting unit loading trays are placed on the picking station conveyor line, including a rectangular tray body, on which a first-axis gear placement position, a first-axis differential gear placement position, a second-axis first-gear gear placement position, a second-axis second-gear gear placement position, a second-axis third-gear gear placement position, a second-axis reverse gear placement position, and a second-axis placement position are evenly arranged;

[0015] The first-axis gear placement position, the first-axis differential gear placement position, the second-axis first-gear gear placement position, the second-axis second-gear gear placement position, the second-axis third-gear gear placement position, and the second-axis reverse gear placement position have the same structure, all of which are Y-shaped support frames, and the Y-shaped ends of the support frames each extend upward with a limiting protrusion, a Y-shaped support block extends upward from the top center of the support frame, and a fixing screw is provided at the bottom center of the support frame;

[0016] The two-axis placement position is set at a corner of the pallet body, including an upper limit plate and a lower limit plate set in parallel, and the upper limit plate and the lower limit plate are connected and penetrated by 4 long screws; the centers of the upper limit plate and the lower limit plate are vertically opened with mounting holes, and a cylinder is interference fitted between the two mounting holes.

[0017] Optionally, a loading AGV is provided at the incoming material end of the picking station conveyor line, and a unloading AGV is provided at the unloading material end.

[0018] Optionally, a return temporary storage position is set at the left end of the one-axis gear placement area in the picking area; and a picking temporary storage position is set at the left end of the one-axis gear placement area in the spare material area.

[0019] Optionally, a three-dimensional storage area is set up next to the parallel position of the spare material area; and the outbound RGV is set vertically to the three-dimensional storage area, the spare material area, the picking material area, the robot work area and the picking station conveyor line.

[0020] A method for sorting and scheduling logistics for automatic transmission main shaft assembly parts is implemented using any of the automatic transmission main shaft assembly parts sorting and scheduling logistics systems described in the present invention, specifically comprising:

[0021] Work order issuance process:

[0022] 1) Workshop dispatchers schedule production in the MES system, create work order demand material requisitions, and issue production plans;

[0023] 2) The MES system sends the material requisition to the WMS system. The WMS compares the available inventory in the three-dimensional warehouse. If the inventory is sufficient, the material on the requisition is occupied and a replenishment task is generated from the three-dimensional warehouse to the spare material area. At the same time, the WMS system synchronizes the work order demand information to the WCS.

[0024] Material preparation process for outbound delivery:

[0025] 3) The spare material area is divided into different parts storage areas according to the type of parts, with a total of 22 spare material positions. Among them, positions 1-4 are the placement area for the first shaft gear, positions 5-6 are the placement area for the first shaft differential gear, positions 7-10 are the placement area for the second shaft first gear, positions 11-12 are the placement area for the second shaft second gear, positions 13-16 are the placement area for the second shaft third gear, positions 17-20 are the placement area for the second shaft reverse gear, and positions 21-22 are the placement area for the second shaft. Each material placement area is divided into physical placement positions and empty frame placement positions, which are arranged in a staggered manner. The adjacent positions of each physical placement position are configured as empty frame placement positions for storing empty station equipment that has been picked.

[0026] 4) The WMS system sets the entire spare material area to location 06, numbering locations 0601 to 0622 from left to right, and records the accounting status of each location separately. At the start of the operation, the accounting of all locations is 0. When the WMS detects that the accounting of the location where a certain part is located is 0, it continues to check whether there is a replenishment task. If both conditions are met, it sends a storage instruction to the WCS system, starting from the three-dimensional warehouse and ending at the corresponding required location in the spare material area.

[0027] 5) The WCS receives the warehouse instruction from the WMS and mobilizes the outbound RGV to transport the material to the temporary storage location for picking. It then calls the picking RGV to transport the material to the corresponding required storage location in the standby area. This cycle continues until all the physical storage locations in the standby area are filled. Each material outbound is treated as a separate outbound task in the WMS system. After the picking RGV places the material, the WCS reports the task completion to the WMS. The WMS then adjusts the accounts and records the inventory status of each physical storage location in the standby area.

[0028] 6) The physical placement of each material in the picking area corresponds to the empty frame placement and the spare material area location category, and a photoelectric device is installed at the bottom of the picking area shelf to detect whether the location is empty;

[0029] Transfer and replenishment process:

[0030] 7) When the photoelectric detection detects that the physical storage location of a certain material in the picking area is empty, it reports to the WCS system, and the WCS requests the WMS to issue a material movement task to move the out-of-stock material from the standby material area to the picking area;

[0031] 8) WMS sets the picking area to 05 storage location, numbered from 0501 to 0522 from left to right, and records the accounting status of each storage location separately; in the initial state, the accounts of all storage locations are 0; when WMS issues a move task, WCS receives the task, dispatches the picking RGV to move the out-of-stock materials from the spare material area to the picking area, and reports the task completion to WMS. WMS adjusts the account, deducts the amount from the physical placement storage location 06, and records it to the corresponding storage location in the picking area (3);

[0032] 9) After the WCS completes the warehouse transfer task, it sends the work order requirement information, the type and quantity of materials in the 05 storage location, and the station equipment code information to the robotic picking system. The picking system compares the materials with the work order requirements and determines the next material to be picked.

[0033] Picking process:

[0034] 10) The loading pallet for the one- and two-axis sorting unit arrives from the production line on the left side via the loading AGV and travels from left to right on the picking station conveyor line. The pallet moves sequentially through the empty frame position, the work position, and the unloading position. When the pallet arrives at the work position, the barcode scanner scans the unique code of the one- and two-axis sorting unit loading pallet, records it in the picking system, and synchronizes it to the WCS and WMS systems to prepare for subsequent picking accounting adjustments and binding. The picking system PLC controls the lifting of the limit blocking mechanism below the conveyor line to fix the empty pallet position and prepare for picking.

[0035] 11) Robot No. 1 and Robot No. 2 each handle different types of materials in the picking area. They move left and right on the guide rails and are equipped with multi-functional fixtures and visual cameras to verify the direction of parts before grabbing. The picking system controls Robot No. 1 to match four types of materials: one-axis gear, one-axis differential gear, two-axis first gear gear, and two-axis second gear gear. They then pick the materials to the loading trays of the first and second axis sorting units according to the work order requirements. After completion, the picking system PLC lowers the limit blocking mechanism under the conveyor line, releasing the tray and transferring it to the next picking station. The previous picking station continues to receive the loading trays of the first and second axis sorting units for the next picking.

[0036] 12) When the loading tray of the first and second axis sorting unit picked by robot No. 1 arrives at the picking station, the picking system PLC controls the limit blocking mechanism below the conveyor line of the picking station to rise, fix the loading tray of the first and second axis sorting unit picked by robot No. 1, and prepare for picking again;

[0037] 13) The picking system controls the No. 2 robot to match the three materials of the second-axis third gear, the second-axis reverse gear and the second-axis, and picks them to the loading tray of the first and second-axis sorting units according to the work order requirements. After completion, the picking system PLC controls the lower inner limit blocking mechanism of the picking station to descend, releasing the tray to the picking station. After the tray is picked, it flows into the subsequent unloading area and is taken away by the unloading AGV and sent to the production line. When the loading tray of the first and second-axis sorting units has picked all the materials after the No. 1 and No. 2 robots, it is reported to the WMS system, and all the materials picked by the tray are deducted from the respective material placement locations in the picking area, and an SPS package account is generated, which is bound to the unique SPS barcode previously scanned and uploaded to the WMS by the scanner.

[0038] Optionally, also include:

[0039] Empty workstation equipment return process:

[0040] Each time the robot picks up a layer of material, it grabs the empty workstation equipment and places it in the adjacent empty frame placement area that matches each physical placement area in the picking material area for palletizing. When the picking system records that the number of palletizing layers in the empty frame placement area has reached the maximum, it requests the WCS system to move the empty frame from the 05 empty frame area to the 06 empty frame placement area, with the positions corresponding one to one. The WCS system requests the WMS to issue an empty frame warehousing task. After verifying that the empty frame information is accurate, the WMS issues a warehouse transfer task. The WCS receives the task and dispatches the picking RGV to transfer the empty frame to the 06 empty frame placement area. Then the WMS continues to issue the empty frame return task to the stereoscopic warehouse. The WCS receives the task and dispatches the picking RGV again to place the empty workstation equipment palletized in the 06 empty frame placement area in the return to empty temporary storage position. Subsequently, the WCS continues to dispatch the outbound RGV to put the empty workstation equipment back into the stereoscopic warehouse.

[0041] Residual material return process:

[0042] If the picking system detects that all materials required by the work order have been picked at the physical storage location in the picking area, and there are still remaining materials, the return process is triggered: the picking system compares whether the next work order still requires the remaining materials in the physical storage location 05 of the current picking area. If so, picking continues. If the work order no longer requires such materials, the picking system sends a return request to the WCS. The WCS requests the WMS to issue a return task. After receiving the request, the WCS dispatches the picking RGV to transport the remaining materials directly from the 05 storage location to the empty temporary storage location. After the task is completed, the WMS deducts the corresponding account of the picking area storage location.

[0043] Optionally, in the picking process, the workstations are divided from left to right into the code scanning position, workstation 1, cache position 1, cache position 2 and workstation 2; half of the picked parts are picked by robot No. 1 at workstation 1, and the other half of the picked parts are picked by robot No. 2 at workstation 2; the picking process of this scheme is: after the code scanning position scans the QR code of the one- and two-axis sorting unit loading tray, the information is uploaded to the WCS and WMS systems, and the tray number is recorded; after recording, the one- and two-axis sorting unit loading tray flows into workstation 1, the limit mechanism lifts up and clamps the tray, and robot No. 1 starts picking; after picking is completed, the limit mechanism of workstation 1 is lowered, and the one- and two-axis sorting unit loading tray moves to workstation 2;

[0044] ① At this time, as long as the photoelectric detection of cache position 1, cache position 2 and work position 2 is empty, the No. 2 robot will immediately perform the picking task of the pallet. When the loading pallet of the first and second axis sorting unit reaches work position 2, the No. 2 robot will take action in advance. When the loading pallet of the first and second axis sorting unit reaches work position 2, the No. 2 robot has already prepared the first part to be picked.

[0045] ②At this time, if the photoelectric detection of workstation 2 shows that there is stock, it means that there is a pallet being picked at workstation 2. Then, after the loading pallet of the current one-axis and two-axis sorting unit reaches cache position 2, it stops and waits; when the loading pallet of the current one-axis and two-axis sorting unit at workstation 2 completes picking, the loading pallet of the current one-axis and two-axis sorting unit moves toward workstation 2. After the movement is triggered, the No. 2 robot also moves in advance; when the loading pallet of the one-axis and two-axis sorting unit reaches workstation 2, the No. 2 robot has already prepared the first part to be picked;

[0046] ③At this time, if both working position 2 and cache position 2 have photoelectric detection that there is goods, and so on, the loading tray of the first and second axis sorting units waits in line at cache position 1.

[0047] The advantages of the present invention are:

[0048] The logistics system provided by this invention allows for the use of shared parts across several product categories when switching between multiple work orders, eliminating repeated inbound and outbound operations. This allows for smoother switching, significantly reducing production changeover time and saving approximately 30% of the time required to switch work orders. This model also reduces the number of interfaces required for data transmission, preventing data confusion caused by network fluctuations or interface freezes, and improving data accuracy. Similarly, for each new part box picked, the robot re-identifies the physical quantity and compares it with the accounting data. This picking model can ensure consistency between accounts and actuals to the greatest extent possible, identifying errors early and reducing problems such as line stoppages and shipping errors caused by manual data entry or mechanical failures. This improves picking fluidity, reduces potential problems, and reduces production downtime caused by discrepancies between physical quantities and system records by 20%. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0050] Figure 1 It is the loading tray of the one-axis and two-axis sorting unit in the present invention; a is the placement position of the one-axis gear, b is the placement position of the one-axis differential gear, c is the placement position of the second-axis first gear gear, d is the placement position of the second-axis second gear gear, e is the placement position of the second-axis third gear gear, f is the placement position of the second-axis reverse gear, g is the placement position of the second axis, and h is the tray body;

[0051] Figure 2 This is a schematic diagram of the structure of the automatic transmission spindle assembly parts robot picking and scheduling logistics system of the present invention;

[0052] Figure 3 for Figure 2 Functional distribution diagram of material preparation area and material picking area;

[0053] Figure 2 and 3 Among them, 1-three-dimensional warehouse, 2-spare material area, 3-picking material area, 4-outbound RGV, 5-picking temporary storage, 6-picking RGV, 7-first axis gear placement area, 8-first axis differential gear placement area, 9-second axis first gear gear placement area, 10-second axis second gear gear placement area, 11-second axis third gear gear placement area, 12-second axis reverse gear placement area, 13-second axis placement area, 14-empty frame position, 15-working position, 16-unloading position, 17-loading AGV, 18-unloading AGV, 19-No. 1 robot, 20-No. 2 robot, 21-return empty temporary storage, 22-picking station conveyor line, 23-barcode scanner;

[0054] Figure 4 for Figure 2 The robot station distribution diagram in FIG. 1 is a diagram of the prior art distribution, and FIG. B is a diagram of the distribution provided by the present invention. DETAILED DESCRIPTION

[0055] The technical solution of the present invention is further described below with reference to the embodiments, but is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention that does not depart from the spirit and scope of the technical solution of the present invention should be included in the scope of protection of the present invention.

[0056] If standard parts production methods were used, using line-side racks for material distribution and supply, the spindle assembly would require a large number of parts. During peak work order issuance periods, multiple parts would be shipped simultaneously, hindering the efficiency of the stacker crane and delaying material delivery. Furthermore, the materials required for this assembly were all gear shafts, with similar shapes and sizes. Manual sorting would be labor-intensive and prone to errors, leading to mismatches and omissions. Assembly operators on the production line, frequently switching between multiple work orders, could also easily pick the wrong part for assembly, causing quality issues. These issues would lead to significant risks in the entire logistics process, inconsistent with the principles of lean production.

[0057] During the production of the main shaft assembly, the present invention uses a double-station seven-axis manipulator in conjunction with visual recognition in advance to grab all the parts required for one assembly and place them on a special one-two-axis sorting unit loading tray for storage. The special tray is designed for one-axis preparation, that is, after the seven parts of one shaft gear, one shaft differential gear, two shaft first gear gear, two shaft second gear gear, two shaft third gear gear, two shaft reverse gear, and two shaft are picked, the tray is automatically sent to the line side by AGV, and the operator takes the parts directly from the tray. After one assembly is loaded, the material on this tray is emptied, and the empty tray returns to the picking line.

[0058] Due to the large variety of parts and the large buffering capacity required, a dual-station 7-axis robot gripper was designed, with a total of 20 picking stations. Stations 1-8 are overhead bins, used to buffer empty loading bins. Station 9 is Picking Station 1, corresponding to Robot No. 1. Stations 10 and 11 are Picking buffers, used to buffer materials between Robots No. 1 and 2. Station 12 is Picking Station 2, corresponding to Robot No. 2. Stations 13-20 are unloading stations. Gear bins can accommodate up to six layers, while shaft bins can accommodate up to four layers. Material distribution utilizes an RGV automated delivery and outbound model, divided into a sorting area and a reserve area, each with 22 corresponding material lanes. The preparation and sorting areas are divided by material type, with corresponding empty bin placement slots reserved next to each material position to buffer empty bins after picking. The robot grasps parts from the sorting area and places them at the picking station, completing the picking process.

[0059] Combine Figure 1-3The automatic transmission spindle assembly parts picking and dispatching logistics system of the present invention is arranged in parallel: a spare material area 2, a picking material area 3, a robot working area and a picking station conveyor line 22; the picking station conveyor line 22 is sequentially provided with an empty frame position 14, a working position 15 and a material unloading position 16 along the conveying direction; the robot working area is provided with a robot working track, including a No. 1 robot 19 and a No. 2 robot 20; the working position 15 is provided with a code scanning position, a working position 1, a cache position 1, a cache position 2 and a working position along the conveying direction 2, robot No. 1; half of the picked parts are completed by robot No. 1 19 at work station 1, and the other half of the picked parts are completed by robot No. 2 20 at work station 2; the work stations of the spare material area 2 and the picking material area 3 correspond to each other, and along the conveying direction of the picking work station conveyor line are the first shaft gear placement area 7, the first shaft differential gear placement area 8, the second shaft first gear gear placement area 9, the second shaft second gear gear placement area 10, the second shaft third gear gear placement area 11, the second shaft reverse gear gear placement area 12 and the second shaft placement area 13.

[0060] In the present disclosure, a plurality of one-axis and two-axis sorting unit loading trays are placed on the picking station conveyor line, including a rectangular tray body h, on which a one-axis gear placement position a, a one-axis differential gear placement position b, a two-axis first gear gear placement position c, a two-axis second gear gear placement position d, a two-axis third gear gear placement position e, a two-axis reverse gear gear placement position f and a two-axis placement position g are evenly arranged; the one-axis gear placement position a, the one-axis differential gear placement position b, the two-axis first gear gear placement position c, the two-axis second gear gear placement position d, the two-axis third gear gear placement position e and the two-axis reverse gear placement position f have the same structure, and are all Y-shaped support frames, and a limiting protrusion extends upward from each end of the Y-shape of the support frame, a Y-shaped support block extends upward from the top center of the support frame, and a fixing screw is provided at the bottom center of the support frame;

[0061] The two-axis placement position g is set at a corner of the pallet body h, including an upper limit plate and a lower limit plate set in parallel, and the upper limit plate and the lower limit plate are connected and penetrated by 4 long screws; the centers of the upper limit plate and the lower limit plate are vertically opened with mounting holes, and a cylinder is interference fitted between the two mounting holes.

[0062] In the present disclosure, a loading AGV (17) is provided at the incoming material end of the picking station conveyor line 22, and a unloading AGV (18) is provided at the unloading material end.

[0063] In the present disclosure, a return temporary storage position 21 is set at the left end of the one-axis gear placement area of ​​the picking material area 3; and a picking temporary storage position 5 is set at the left end of the one-axis gear placement area of ​​the spare material area 2.

[0064] In the present disclosure, a three-dimensional warehouse 1 is set up next to the standby material area 2; and a warehouse-out RGV (4) is set up vertically with the three-dimensional warehouse 1, the standby material area 2, the picking material area 3, the robot working area and the picking station conveyor line 22.

[0065] Logistics Information System Function Description:

[0066] 1) MES Manufacturing Execution System: used for production planning, issuing work orders, batching material requirements, etc.

[0067] 2) WMS warehouse management system: used to record inventory accounts, issue inbound and outbound transfer tasks, and issue instructions to the WCS system

[0068] 3) WCS warehouse control system: used to receive WMS system tasks, connect with RGV, picking system, photoelectric signal control and other electronic control systems, and drive scheduling equipment to complete instructions

[0069] The specific implementation is as follows:

[0070] Work order issuance process:

[0071] 1) Workshop dispatchers schedule production in the MES system, create work order demand requisitions, and issue production plans

[0072] 2) The MES system sends the material requisition to the WMS system. The WMS compares the available inventory in the three-dimensional warehouse 1. If it meets the requirements, the material on the requisition is occupied and a replenishment task is generated from the three-dimensional warehouse to the spare material area 2. At the same time, the WMS system synchronizes the work order demand information to the WCS.

[0073] Material preparation process for outbound delivery:

[0074] 3) The spare material area 2 is divided into different parts storage areas according to the type of parts, with a total of 22 spare material positions, of which 1-4 positions are the first-axis gear placement area 7, 5-6 positions are the first-axis differential gear placement area 8, 7-10 positions are the second-axis first-gear placement area 9, 11-12 positions are the second-axis second-gear placement area 10, 13-16 positions are the second-axis third-gear placement area 11, 17-20 positions are the second-axis reverse gear placement area 12, and 21-22 positions are the second-axis placement area 13. Each material placement area is divided into physical placement locations and empty frame placement locations, which are arranged in a staggered manner. The adjacent locations of each physical placement location are configured as empty frame placement locations for storing empty workstation equipment that has been picked.

[0075] 4) The WMS system sets the spare material area 2 as the 06 storage location, and the storage locations are numbered from 0601 to 0622 from left to right. Each storage location has its own account status, including the number of parts, the workstation equipment number, the material number, etc. At the start of the work, the accounts of all storage locations are 0. When the WMS detects that the account of the storage location where a certain part is located is 0, it continues to check whether there is a replenishment task. If both conditions are met, it will send a warehouse instruction to the WCS system, starting from the three-dimensional warehouse 1 and ending at the corresponding demand storage location in the spare material area 2.

[0076] 5) WCS receives the warehouse instruction from WMS and mobilizes the outbound RGV (4) to transport the material to the temporary storage location 5 for picking, and then calls the picking RGV (6) to transport the material to the corresponding required storage location in the spare material area 2. This cycle continues until all the physical storage locations in the spare material area 2 are filled. Each material outbound is treated as a separate outbound task in the WMS system. After the picking RGV (5) completes the placement, the WCS reports the task completion to the WMS, and the WMS adjusts the account and records the inventory account status of each physical storage location of the material in the spare material area 2.

[0077] 6) The physical placement of each material in the picking area 3 corresponds to the empty frame placement and the spare area 2 location category, and a photoelectric device is installed at the bottom of the picking area 3 shelf to detect whether the location is empty.

[0078] Transfer and replenishment process:

[0079] 7) When the photoelectric detection detects that the physical storage location of a certain material in the picking area 3 is empty, it reports to the WCS system, and the WCS requests the WMS to issue a material movement task to move the out-of-stock material from the spare material area 2 to the picking area 3.

[0080] 8) WMS sets Picking Area 3 to 05, with the numbered locations 0501 to 0522 from left to right, and records the account status of each location separately. Initially, the accounts of all locations are 0. When WMS issues a move task and WCS receives the task, it dispatches the Picking RGV (6) to move the out-of-stock materials from the spare material area 2 to the Picking Area 3, reports the task completion to WMS, and adjusts the account, deducting the amount from the physical storage location 06 and recording it to the corresponding location in Picking Area 3.

[0081] 9) After the WCS completes the warehouse transfer task, it sends the work order requirement information, the type and quantity of materials in the 05 storage location, and the workstation equipment code information to the robotic picking system. The picking system compares the materials with the work order requirements and determines the next material to be picked.

[0082] Picking process:

[0083] 10) The SPS empty pallet is delivered from the production line via the loading AGV (17) on the left side and moves from left to right on the picking station conveyor line 22. Positions 1-8 are empty frame positions 14, positions 9-12 are work positions 15, and positions 13-20 are unloading positions 16. When the pallet arrives at position 9, i.e., work position 1, the barcode scanner 23 in front of position 9 scans the unique code of the first and second axis sorting unit loading pallet, records it in the picking system, and synchronizes it to the WCS and WMS systems to prepare for subsequent picking account adjustments and binding. The picking system PLC controls the lifting of the limit blocking mechanism below the conveyor line of picking station 9, fixing the empty pallet position and preparing for picking.

[0084] 11) Robot No. 19 and Robot No. 2 20 each correspond to three different types of materials in the picking area, move left and right on the guide rails, and are equipped with multifunctional fixtures. They can simultaneously accommodate all materials required by the SPS picking spindle assembly and the grabbing and placement of empty workstation equipment. At the same time, they are equipped with visual cameras to verify the direction of the parts before grabbing to prevent damage to the fixtures due to grabbing, uneven placement of parts, skewed part frames, etc. The picking system controls Robot No. 19 to pick four materials, namely, the first-axis gear, the first-axis differential gear, the second-axis first-gear gear, and the second-axis second-gear gear, at the 05 cargo position, to the loading trays of the first and second-axis sorting units according to the work order requirements. After completion, the picking system PLC lowers the limit blocking mechanism under the conveyor line of station 9, releases the tray and transfers it to picking station 10. Picking station 9 continues to receive empty trays for the next picking.

[0085] 12) When the loading tray of the one-axis and two-axis sorting unit picked by robot No. 19 arrives at the picking station 12, the picking system PLC controls the limit blocking mechanism below the conveyor line of the picking station 12 to rise, fix the loading tray of the one-axis and two-axis sorting unit picked by robot No. 19, and prepare for picking again.

[0086] 13) The picking system controls the second robot 20 to pick the three materials of the second axis third gear, the second axis reverse gear, and the second axis at the 05 cargo position, matching the work order requirements, and place them on the loading tray of the first and second axis sorting unit. After completion, the picking system PLC controls the lower inner limit blocking mechanism of the picking station 13 to descend, releasing the tray to the picking station 13. The tray is picked and flows into the subsequent unloading area. It is taken away by the unloading AGV (18) at the 20th station and sent to the production line. When the loading tray of the first and second axis sorting unit has finished picking all the materials through the first robot 19 and the second robot 20, it is reported to the WMS system, and all the materials picked by the tray are deducted from the material placement positions of the picking area 3 (05 cargo position), and an SPS package account is generated, which is bound to the unique SPS barcode previously scanned and uploaded to the WMS by the scanner.

[0087] Empty workstation equipment return process:

[0088] Each time the robot picks up a layer of material, it grabs the empty workstation equipment and places it in the adjacent empty frame placement area that matches each physical placement area in the picking material area 2 for palletizing. When the picking system records that the number of palletizing layers in the empty frame placement area reaches the maximum value, it requests the WCS system to move the empty frame from the 05 empty frame area to the 06 empty frame placement area, with the positions corresponding one to one. The WCS system requests the WMS to issue an empty frame warehousing task. The WMS verifies that the empty frame information is accurate and then issues a warehouse transfer task. The WCS receives the task and schedules the picking RGV (6) to transfer the empty frame to the 06 empty frame placement area. Then the WMS continues to issue the empty frame return task to the three-dimensional warehouse 1. The WCS receives the task and schedules the picking RGV (6) again to place the empty workstation equipment palletized in the 06 empty frame placement area in the return empty temporary storage position 21. Subsequently, the WCS continues to schedule the outbound RGV (4) to put the empty workstation equipment back into the three-dimensional warehouse 1.

[0089] Residual material return process:

[0090] Since the three-dimensional warehouse does not have a split-up mode, each shipment is a whole stack of materials. There may be a situation where the materials shipped out are greater than the work order requirements. If the picking system detects that all materials required by the work order have been picked in the picking area 3 (05 physical storage location), and there are still remaining materials, the return process is triggered: the picking system compares whether the next work order still requires the remaining materials in the current picking area 3 (05 physical storage location). If so, the picking continues. If the work order no longer requires this type of material, the picking system sends a return request to the WCS. The WCS requests the WMS to issue a return task. After receiving the request, the WCS dispatches the picking RGV (6) to directly transport the remaining materials from the 05 physical storage location to the return temporary storage location 21. This temporary storage location is shared with the return. After the same conveyor line task is completed, the WMS deducts the corresponding picking area 3 (05 physical storage location) account.

[0091] Problems that may occur if the above solution is not applied:

[0092] 1. Picking: Original picking plan Figure 4 Figure A

[0093] Among them, the picking station conveyor line 8-12 is workstation 15. The five workstations are specifically from left to right: code scanning station - workstation 1 - workstation 2 - workstation 3 - workstation 4. All parts that need to be picked are evenly distributed to the four workstations for completion. Among them, robot No. 19 corresponds to workstation 1 / 2; robot No. 20 corresponds to workstation 3 / 4;

[0094] The picking process for this solution is as follows: After scanning the QR code on the loading tray of the first and second axis sorting units at station 8, the information is uploaded to the WCS and WMS systems, and the pallet number is recorded. After recording, the pallet flows to station 19, where the limit mechanism lifts up and clamps the pallet. Once the pallet is secured, robot 19 reads the parts to be picked at station 1 and performs the movements, photo identification, and grabbing and placing them. After completion, the limit mechanism at station 1 descends, and the pallet flows to station 210. Once in place, the limit mechanism at station 2 is secured, and robot 19 picks the parts to be picked at station 2. This continues in this manner, with the pallets then moving to stations 3 and 4. Once secured, the robots then search for picking tasks and perform the picking operations. After picking at station 4, the entire picking process is complete.

[0095] Current plan: Figure 4 Figure B

[0096] Picking station conveyor lines 8-12 are workstations, and the five stations are arranged from left to right as: code scanning station - workstation 1 - cache station 1 - cache station 2 - workstation 2. Half of the picked parts are picked by robot number 19 at workstation 1, and the other half are picked by robot number 20 at workstation 2. The picking process for this solution is as follows: After code scanning station 8 scans the QR code of the first and second axis sorting unit loading tray, the information is uploaded to the WCS and WMS systems, and the tray number is recorded. After recording, the tray flows to workstation 19, where the limit mechanism lifts up and clamps the tray, and robot number 19 begins picking. After picking is completed, the limit mechanism of workstation 1 is lowered, and the first and second axis sorting unit loading tray moves to workstation 2.

[0097] ① At this point, as long as the photoelectric detections for Buffer 1, Buffer 2, and Work Station 2 indicate that the pallet is empty, Robot 20 immediately begins picking the pallet. As the pallet from the first and second axis sorting units reaches Work Station 2, it preemptively reads the work order and the picking task, completes photo recognition, and then grabs the part. By the time the pallet reaches Work Station 2, Robot 2 has already prepared the first part to be picked.

[0098] ② If the photoelectric detection at Workstation 2 indicates that there is stock, it indicates that a pallet is currently being picked at Workstation 2. After the current pallet reaches Buffer 2, it stops and waits. When the pallet at Workstation 2 is finished picking, the current pallet moves to Workstation 2. After the movement is triggered, Robot 20 also pre-reads the work order and the picking task, completes photo recognition, and then grabs the part. When the pallet arrives at Workstation 2, Robot 20 has already prepared the first part to be picked.

[0099] ③At this time, if both working position 2 and cache position 2 have photoelectric detection that there is stock, and so on, the pallet will wait in line at cache position 1.

[0100] This picking solution focuses on bringing forward the reading, identification, grasping, and placement actions of robot No. 2 20 and performing them synchronously with the movement of the pallet. This can greatly reduce the waiting time after the pallet arrives at workstation 2. The robot arm can even be prepared in advance before the pallet arrives, which can greatly improve picking efficiency by more than 70%.

[0101] 2. Picking: In the original plan, the conveyor lines of workstation 1 / workstation 2 and workstation 3 / workstation 4 shared a motor and could only rotate or stop at the same time, and used 8mm proximity switches for positioning, resulting in inaccurate positioning accuracy. If the distance between two consecutive pallets was too large or too small, the two pallets could not be controlled to stop accurately in the picking areas of workstation 1 and workstation 2, causing robots No. 19 and No. 2 to frequently alarm due to inaccurate identification and positioning, and the picking line stopped, affecting on-site production.

[0102] The current plan adds two motors to control work position 1, cache position 1, cache position 2, and work position 2 in sections, which can accurately control the docking of the pallet and the limit mechanism of the work position; at the same time, the 8mm proximity switch is upgraded to a through-beam photoelectric switch, which has faster detection speed and stronger real-time performance, and the range is increased by dozens of times than before, thereby improving the recognition success rate of the picking robot by more than 30%.

[0103] 3. Transfer warehouse and replenish materials:

[0104] The original plan triggers replenishment from the standby area (2) to the picking area (3) when the robot takes a photo and recognizes that the shelf in the picking area is empty, and uploads an empty signal to the robot picking system, and then uploads it to the WCS and WMS systems. After the WMS receives the shortage signal, it sends a replenishment task to the WCS system and adjusts the internal record, standby area (2) -1, picking area (3) +1; after receiving the task, the WCS dispatches the RGV to fork the designated goods from the standby area to replenish the picking area. After the replenishment is completed, it reports to the WMS system to complete the replenishment process.

[0105] The current solution adds a proximity switch to each shelf in the picking area to monitor the empty or full situation of the picking area (3) in real time. The proximity switch is directly integrated into the WCS warehouse control system and communicates directly with the WCS. When the storage location is detected to be empty, the WCS directly requests the WMS to issue a replenishment task. After the WMS processes and adjusts the accounts of the two areas, it issues the WCS replenishment task and dispatches the RGV to pick up the goods to complete the replenishment. The current solution changes the detection and triggering condition of replenishment from robot recognition to proximity switch recognition, which reduces the robot's movement and photo-taking time, shortens the robot's travel time, and improves efficiency by 50%. In the original solution, after the robot recognizes the empty signal, it uploads it to its own picking system, which then reports it to the WCS system. The WCS system then requests the WMS system to issue a replenishment task. After the change, the WCS system directly recognizes the empty or full situation of the storage location and triggers replenishment, reducing the circular transmission between the picking system and the WCS system, improving the system interaction efficiency, and effectively preventing the picking line from stopping and interrupting materials due to untimely replenishment, improving the picking efficiency by more than 50%.

[0106] 4. Return of surplus material:

[0107] The original plan did not have a process for returning surplus materials. When the required quantity for the first work order is picked, the picking area (3) is cleared. The picking system sends a return request to the WCS, which then requests the WMS to issue a return task. After receiving the request, the WCS dispatches the RGV to directly transport the surplus materials from the 05 storage location to the empty temporary storage location (21). After the task is completed, the WMS deducts the corresponding 05 storage location account of the picking area (3).

[0108] This model is not conducive to rapid production change and switching of work orders. It is less efficient for the production model of multiple varieties and small batches, and a lot of time is wasted in returning materials and shipping them out during the switching process.

[0109] The current solution adds a residual material verification function. When the MES issues a work order, the work order information is synchronized to the WMS-WCS-picking system. At the same time, the 05-position picking material area (3) accounting WMS performs refined management. The table stores the material type, remaining quantity, box code and other information of the 05-position picking material area (3). When the previous work order is finished picking, the picking system will check whether the remaining materials in the 05-position picking material area (3) can be used in the next work order. If so, picking will continue and the WMS will continue to debit the account; if not, the return process will be triggered.

[0110] This model allows for the switching of multiple work orders, where shared parts are shared across several product lines, to avoid repeated stocking and warehousing operations. This allows for smoother switching, significantly reducing production changeover time and saving approximately 30% of the time required to switch work orders. This model also reduces the number of data transmission interfaces, preventing data confusion caused by network fluctuations or interface lags, resulting in more accurate data.

[0111] 5. Account management

[0112] The original plan relied solely on the WMS system to manage the 05 location picking area (3) in real time when replenishing from the 06 spare material area (2) to the 05 location picking area (3). For example, the RGV transferred a bunch of parts (a total of 10) from the 06 spare material area (2) to the 05 location picking area (3). The WMS completed the material transfer task in the WCS. After the receipt was completed, it would refresh the account, deduct the parts in the 06 location to 0, and generate 10 parts in the 05 location account. At the same time, the information was synchronized to the WCS and the robot picking system. The subsequent robot read the work order to determine the next material to be picked, and then moved, grabbed, and placed it on the SPS pallet. After completing the placement, the robot PLC reported to the picking system. The picking system deducted the account of the entire bunch of parts in the location by 1, and reported it to the WMS system. The WMS system deducted the account of the entire bunch by 1, thereby achieving real-time management of the 05 location account.

[0113] The disadvantage of this method is that accounting management only manages a whole stack, and there is no verification of the actual objects. If the data is wrong when the parts are put into the warehouse, for example, there are 9 parts, but the accounting entry is 10, when picking the last one, the robot will report an error and cannot identify the material, and manual intervention is required; if 10 parts are entered as 9, the remaining boxes containing parts will be returned to the warehouse as empty boxes, and subsequently sent to the production line as empty boxes, causing the production line to alarm. Both situations will have a great impact on production.

[0114] The current solution incorporates physical part verification and manages accounting precisely down to the individual part bins. When the RGV transfers a stack of 10 parts from Area 06 to Storage Area 05, the WMS synchronizes the number of layers, the bin numbers, and the number of parts per layer to the WCS and robotic picking system. (For ease of illustration, assume two layers, with five parts per layer.) The robot then reads the work order to determine the type of material to be picked. After moving directly above the stack of parts, the robot scans the barcode on the top bin and visually identifies the number of physical parts within. This reading is then compared with the accounting information provided by the WMS to determine if the physical part matches the accounting information. If a discrepancy occurs, an alert is issued and the item is removed for manual processing, preventing erroneous accounting entries from entering the warehouse or production line, potentially disrupting production or causing inventory data confusion. If the robot determines that the item is correct, it moves, grabs, and places the item, reporting it to the picking system. The picking system then decrements the accounting for the part in the scanned bin by 1 (i.e., in this example, 5-1 = 4 for the top bin). Similarly, when the top layer is finished picking, the robot determines that the frame is empty and grabs the empty frame to a temporary empty frame storage location, preparing to pick parts from the second layer. At this point, the frame is photographed again for physical identification and compared with the accounting quantity transmitted by the picking system WMS. Similarly, with each new frame of parts picked, the robot re-identifies the physical quantity and compares it with the accounting quantity. This picking model maximizes consistency between accounting and actuals, detects errors early, and reduces problems such as line stoppages and shipping errors caused by manual data entry or mechanical failures. This improves picking efficiency, reduces potential problems, and reduces production downtime caused by discrepancies between physical quantities and system records by 20%.

[0115] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. An automatic transmission main shaft assembly parts picking and scheduling logistics system, characterized in that: Parallel settings: A standby material area (2), a picking material area (3), a robot work area, and a picking station conveyor line (22); The picking station conveying line (22) is provided with an empty frame position (14), a working position (15) and a material unloading position (16) in sequence along the conveying direction; The robot working area is provided with a robot working track, including a number one robot (19) and a number two robot (20); The workstation (15) is provided with a code scanning position, workstation 1, cache position 1, cache position 2 and workstation 2, and a number one robot along the conveying direction; half of the parts are picked up by the number one robot (19) at workstation 1, and the other half of the parts are picked up by the number two robot (20) at workstation 2; The workstations of the standby material area (2) and the picking material area (3) correspond to each other, and along the conveying direction of the picking workstation conveyor line, there are the first shaft gear placement area (7), the first shaft differential gear placement area (8), the second shaft first gear gear placement area (9), the second shaft second gear gear placement area (10), the second shaft third gear gear placement area (11), the second shaft reverse gear gear placement area (12) and the second shaft placement area (13).

2. The automatic transmission main shaft assembly parts picking and scheduling logistics system according to claim 1 is characterized in that: A plurality of one-axis and two-axis sorting unit loading trays are placed on the picking station conveyor line, including a rectangular tray body (h), on which a first-axis gear placement position (a), a first-axis differential gear placement position (b), a second-axis first-gear gear placement position (c), a second-axis second-gear gear placement position (d), a second-axis third-gear gear placement position (e), a second-axis reverse gear placement position (f), and a second-axis placement position (g) are evenly arranged; The first-shaft gear placement position (a), the first-shaft differential gear placement position (b), the second-shaft first-gear gear placement position (c), the second-shaft second-gear gear placement position (d), the second-shaft third-gear gear placement position (e) and the second-shaft reverse gear placement position (f) have the same structure, all of which are Y-shaped support frames, each of which has a limiting protrusion extending upward from the Y-shaped end of the support frame, a Y-shaped support block extending upward from the top center of the support frame, and a fixing screw provided at the bottom center of the support frame; The two-axis placement position (g) is set at a corner of the pallet body (h), including an upper limit plate and a lower limit plate set in parallel, and the upper limit plate and the lower limit plate are connected and penetrated by 4 long screws; the centers of the upper limit plate and the lower limit plate are vertically opened with mounting holes, and a cylinder is interference-fitted between the two mounting holes.

3. The automatic transmission main shaft assembly parts picking and scheduling logistics system according to claim 1 or 2, characterized in that: A loading AGV (17) is provided at the incoming material end of the picking station conveyor line (22), and a unloading AGV (18) is provided at the unloading material end.

4. The automatic transmission main shaft assembly parts picking and scheduling logistics system according to claim 1 or 2, characterized in that: A return empty temporary storage position (21) is provided at the left end of a shaft gear placement area of ​​the material picking area (3); A picking temporary storage position (5) is provided at the left end of a shaft gear placement area of ​​the standby material area (2).

5. The automatic transmission main shaft assembly parts picking and dispatching logistics system according to claim 1 or 2, characterized in that: A three-dimensional warehouse (1) is arranged beside the standby material area (2); and a warehouse-out RGV (4) is arranged vertically to the three-dimensional warehouse (1), the standby material area (2), the picking material area (3), the robot working area and the picking station conveyor line (22).

6. A logistics method for picking and scheduling automatic transmission main shaft assembly parts, characterized in that: The automatic transmission main shaft assembly parts picking and scheduling logistics system according to any one of claims 1 to 5 is used to complete the process, specifically comprising: Work order issuance process: 1) Workshop dispatchers schedule production in the MES system, create work order demand material requisitions, and issue production plans; 2) The MES system sends the material requisition to the WMS system. The WMS compares the available inventory in the three-dimensional warehouse (1). If the inventory is sufficient, the material on the requisition is occupied and a replenishment task is generated from the three-dimensional warehouse to the spare material area (2). At the same time, the WMS system synchronizes the work order demand information to the WCS. Material preparation process for outbound delivery: 3) The spare material area (2) is divided into different parts storage areas according to the types of parts, with a total of 22 spare material positions, of which positions 1-4 are the first-axis gear placement area (7), positions 5-6 are the first-axis differential gear placement area (8), positions 7-10 are the second-axis first-gear placement area (9), positions 11-12 are the second-axis second-gear placement area (10), positions 13-16 are the second-axis third-gear placement area (11), positions 17-20 are the second-axis reverse gear placement area (12), and positions 21-22 are the second-axis placement area (13). Each material placement area is divided into physical placement positions and empty frame placement positions, which are arranged in a staggered manner. The adjacent positions of each physical placement position are configured as empty frame placement positions for storing the empty position tools that have been picked. 4) The WMS system sets the spare material area (2) as the 06th storage location, and the storage locations are numbered from 0601 to 0622 from left to right, and each storage location is recorded separately; in the initial state of operation, the accounts of all storage locations are 0; when the WMS detects that the account of the storage location where a certain part is located is 0, it continues to check whether there is a replenishment task. If the two conditions are met, it will send a warehouse instruction to the WCS system, starting from the three-dimensional warehouse (1) and ending at the corresponding storage location of the spare material area (2); 5) WCS receives the warehouse instruction from WMS, mobilizes the outbound RGV (4) to transport the material to the temporary storage location for picking (5), and then calls the picking RGV (6) to transport the material to the corresponding required storage location in the spare material area (2); this cycle continues until all the physical storage locations in the spare material area (2) are filled; each batch of material outbound is treated as a separate outbound task in the WMS system. After the picking RGV (5) completes the placement, WCS reports the task completion to WMS, and WMS adjusts the account and records the inventory account status of each physical storage location of the material in the spare material area (2); 6) In the material picking area (3), the physical placement of each material, the empty frame placement, and the storage location category in the spare material area (2) are in one-to-one correspondence, and the bottom of the storage shelf in the material picking area (3) is equipped with a photoelectric device to detect whether the storage location is empty; Transfer and replenishment process: 7) When the photoelectric system detects that the physical storage location of a certain material in the picking area (3) is empty, it reports to the WCS system, and the WCS requests the WMS to issue a material movement task to move the out-of-stock material from the standby area (2) to the picking area (3); 8) WMS sets the picking area (3) to the 05 storage location, and the storage locations are numbered from 0501 to 0522 from left to right, and each storage location records its own account status; in the initial state, the accounts of all storage locations are 0; when WMS issues a move task, WCS receives the task and dispatches the picking RGV (6) to move the out-of-stock materials from the spare material area (2) to the picking area (3), and reports the task completion to WMS. WMS adjusts the account, deducts the amount from the 06 physical storage location, and records it to the corresponding storage location in the picking area (3); 9) After the WCS completes the warehouse transfer task, it sends the work order requirement information, the type and quantity of materials in the 05 storage location, and the station equipment code information to the robotic picking system. The picking system compares the materials with the work order requirements and determines the next material to be picked. Picking process: 10) The loading tray of the one-axis and two-axis sorting unit is delivered from the production line via the loading AGV (17) on the left side, and moves from left to right on the picking station conveyor line (22); the empty frame position (14), the working position (15) and the unloading position (16) are in sequence. When the tray arrives at the working position (15), the barcode scanner (23) scans the unique code of the one-axis and two-axis sorting unit loading tray, records it in the picking system, and synchronizes it to the WCS and WMS systems to prepare for subsequent picking account adjustment and binding; the picking system PLC controls the limit blocking mechanism below the conveyor line to rise, fix the empty tray position, and prepare for picking; 11) Robot No. 1 (19) and Robot No. 2 (20) each correspond to different materials in the picking area (3), walk left and right on the guide rail, and are equipped with a multifunctional clamp and a visual camera to verify the direction of the parts before grabbing; the picking system controls Robot No. 1 (19) to match four types of materials, namely, a one-axis gear, a one-axis differential gear, a two-axis first gear gear, and a two-axis second gear gear, and picks them to the loading tray of the one-axis and two-axis sorting unit according to the work order requirements. After completion, the picking system PLC lowers the limit blocking mechanism under the conveyor line, releases the tray and transfers it to the next picking station. The previous picking station continues to receive the loading tray of the one-axis and two-axis sorting unit for the next picking; 12) When the loading tray of the first and second axis sorting units picked by the first robot (19) arrives at the picking station, the picking system PLC controls the limit blocking mechanism below the conveyor line of the picking station to rise, fix the loading tray of the first and second axis sorting units picked by the first robot (19), and prepare for picking again; 13) The picking system controls the second robot (20) to match the second-axis third gear, the second-axis reverse gear and the second-axis three materials, and picks them to the loading tray of the first and second-axis sorting units according to the work order requirements. After completion, the picking system PLC controls the lower inner limit blocking mechanism of the picking station to descend, releasing the tray to the picking station. The tray completes the picking and flows into the subsequent unloading area, and is taken away by the unloading AGV (18) and sent to the production line; when the loading tray of the first and second-axis sorting units passes through the first robot (19) and the second robot (20) to pick up all the materials, it is reported to the WMS system, and all the materials picked by the tray are deducted from the respective material placement locations in the picking area (3), and an SPS package account is generated, which is bound to the SPS unique barcode previously scanned and uploaded to the WMS by the scanner.

7. The automatic transmission main shaft assembly parts picking and scheduling logistics method according to claim 6 is characterized in that: Also includes: Empty workstation equipment return process: Each time the robot picks up a layer of material, it grabs the empty workstation equipment and places it in the picking material area (2). Each physical placement area matches the adjacent empty frame placement area for palletizing. When the picking system records that the number of palletizing layers in the empty frame placement area reaches the maximum, it requests the WCS system to move the empty frame from the 05 empty frame area to the 06 empty frame placement area, with the positions corresponding one to one. The WCS system requests the WMS to issue an empty frame storage task. The WMS verifies that the empty frame information is accurate and then issues a transfer task. The WCS receives the task and dispatches the picking RGV (6) to transfer the empty frame to the 06 empty frame placement area. Then the WMS continues to issue the empty frame return to the stereoscopic warehouse (1) task. The WCS receives the task and dispatches the picking RGV (5) again to place the empty workstation equipment palletized in the 06 empty frame placement area in the return empty temporary storage position (21). Subsequently, the WCS continues to dispatch the outbound RGV (4) to store the empty workstation equipment back to the stereoscopic warehouse (1). Residual material return process: If the picking system detects that all materials required by the work order for the physical storage location (3) 05 of the picking material area have been picked, and there are still remaining materials, the return process is triggered: the picking system compares whether the next work order still requires the remaining materials in the physical storage location (3) 05 of the current picking material area. If so, the picking continues. If the work order no longer requires such materials, the picking system sends a return request to the WCS. The WCS requests the WMS to issue a return task. After receiving the request, the WCS dispatches the picking RGV (6) to directly transport the remaining materials from the 05 storage location to the empty temporary storage location (21). After the task is completed, the WMS deducts the corresponding account of the picking material area (3) 05 storage location.

8. The automatic transmission main shaft assembly parts picking and scheduling logistics method according to claim 6 is characterized in that: In the picking process, the workstations are divided from left to right into a code scanning position, workstation 1, cache position 1, cache position 2 and workstation 2; half of the picked parts are picked by robot No. 1 (19) at workstation 1, and the other half of the picked parts are picked by robot No. 2 (20) at workstation 2; the picking process of this scheme is as follows: after the code scanning position scans the QR code of the one-axis and two-axis sorting unit loading tray, the information is uploaded to the WCS and WMS systems, and the tray number is recorded; after recording, the one-axis and two-axis sorting unit loading tray flows into workstation 1, the limit mechanism lifts up and clamps the tray, and robot No. 1 (19) starts picking; after picking is completed, the limit mechanism of workstation 1 is lowered, and the one-axis and two-axis sorting unit loading tray moves to workstation 2; ① At this time, as long as the photoelectric detection of cache position 1, cache position 2 and work position 2 is empty, the second robot (20) will immediately perform the picking task of the tray, and will take action in advance when the loading tray of the first and second axis sorting unit arrives at work position 2; when the loading tray of the first and second axis sorting unit arrives at work position 2, the second robot (20) has already prepared the first part to be picked; ②At this time, if the photoelectric detection of workstation 2 shows that there is stock, it means that there is a tray being picked at workstation 2, and then the current one-axis and two-axis sorting unit loading tray arrives at cache position 2 and stops to wait; when the one-axis and two-axis sorting unit loading tray of workstation 2 completes picking, the current one-axis and two-axis sorting unit loading tray moves toward workstation 2, and after the movement is triggered, the second robot (20) also moves in advance; when the one-axis and two-axis sorting unit loading tray arrives at workstation 2, the second robot (20) has already prepared the first part to be picked; ③At this time, if both working position 2 and cache position 2 have photoelectric detection that there is goods, and so on, the loading tray of the first and second axis sorting units waits in line at cache position 1.

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