A warehousing material loading and storage system and method

Abstract

This invention relates to the technical field of control systems for intelligent material handling equipment in warehousing, specifically to a material loading and storage system and method for warehousing. The system includes a main frame and a support mounted on the main frame. An actuator drives the main frame and support to move towards and away from a storage cabinet. The support moves towards the storage cabinet to load materials and resets when it moves away from the cabinet. A first detection unit is installed on the loading carrier, and a second detection unit is installed on the storage cabinet. Based on the collaborative detection results of the first and second detection units, the actuator corrects the relative position between the material and the corresponding loading port on the storage cabinet to successfully push the material into the storage. The loading system and method provided by this invention, through a dual detection unit composed of a laser array and an electromagnetic coil combined with multiple actuators, achieves precise control of the material loading posture and high-precision positioning of the material's location information, improving operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology for warehouse materials, and in particular to a warehouse material loading and storage system and method. Background Technology

[0002] Currently, in the battery clustering operation of electrical cabinets, pressure switches are typically used to detect the position, and a lead screw tool is used to push the batteries into the cabinet. This method has the following problems:

[0003] When replacing a single cluster of batteries, the entire electrical cabinet needs to be shut down. The operation relies on manual intervention, and the positioning error is no less than 5 millimeters, which can lead to misalignment of the cabinet contacts and easily cause arcing during insertion and removal. Furthermore, the battery position needs to be adjusted multiple times to accurately push it into the cabinet. Traditional methods have low overall positioning accuracy, resulting in low battery clustering efficiency, low maintenance efficiency, and high maintenance costs.

[0004] Existing battery cluster structures are only compatible with single-size battery packs and cannot accommodate heterogeneous clusters such as cylindrical, prismatic, and pouch cells. Due to the uncertainty of the battery's orientation before it is placed in the cabinet, if precise alignment is not achieved, collisions between the battery and the cabinet entrance are highly likely, further affecting the safety and lifespan of the equipment.

[0005] To address the problems in the existing technology, the present invention provides a system and method for loading and storing materials in a warehouse. Summary of the Invention

[0006] The purpose of this invention is to provide a system and method for loading and storing materials in a warehouse, so as to solve the technical problems of low battery cluster positioning accuracy and low operation and maintenance efficiency in the prior art.

[0007] The technical solution of the present invention is: a material loading and storage system for warehousing, including a control module, a storage carrier and a storage cabinet, wherein the storage carrier includes a main frame and a first execution component, a second execution component and a third execution component assembled on the main frame, the material is loaded on the second execution component, and the first execution component is disposed at the bottom of the material;

[0008] A first detection unit is provided on the side where the storage cabinet is located, and a second detection unit is provided on the side where the second execution component is located; the first execution component, the second execution component, the first detection unit, and the second detection unit are respectively electrically connected to the control module and controlled by the control module;

[0009] The control module obtains the target angle difference that the material needs to be adjusted based on the material's entry posture obtained by the first detection unit; based on the target angle difference, the control module commands the first execution component to rotate and adjust the material's angle; based on the material's tilt angle after adjustment detected by the second detection unit, the control module updates the target angle difference.

[0010] During the process of the second execution component moving the material to the entrance of the storage cabinet according to the preset trajectory, the material's entry posture is adjusted multiple times. When the material's adjusted posture meets the preset entry posture, the material is pushed into the storage cabinet's entry opening.

[0011] Preferably, the straight line containing the longitudinal edge of the side wall of the storage cabinet's inlet is set as the baseline, and the perpendicular line to the straight line containing the maximum width of the material's inlet end face is set as the material edge line. In the target state, the baseline is parallel to the material edge line. Under the material inlet posture, the angle between the material edge line and the baseline is set as the target angle difference.

[0012] The process tilt angle is set as follows: the material is adjusted to the corresponding angle when the first execution component rotates the material once; the process tilt angle is used to check the angle deviation between the current posture of the material and the preset storage state.

[0013] Preferably, the first execution component includes a first execution main component and a first execution sub-component; the first execution main component includes a support, a rotation drive component, and a propulsion component;

[0014] The propulsion component drives the rotation drive component and the support to operate until the support contacts and supports the material. Based on the detection results of the first detection unit, the control module controls the rotation drive component to rotate and change the material's entry posture. After the material posture is adjusted, the propulsion component resets the rotation drive component and the support according to a preset trajectory.

[0015] Furthermore, after the material posture is adjusted, the position of the material center point is obtained based on the inbound posture detected by the first detection unit, and the inbound distance between the material and the side wall of the warehouse entrance is obtained. The inbound distance is then adjusted to be within a safe range by the first execution component.

[0016] Preferably, the main frame includes vertical side frames and a storage rack;

[0017] The second execution component includes a guide transfer member, on which materials are placed and moved toward the storage cabinet under the action of the guide transfer member;

[0018] The guide transfer component is assembled on the rack via a transition frame plate, and the rack is connected to the vertical side frame via a third actuation component;

[0019] The control module commands the third execution component to drive the first and second execution components to move together, adjusting the material height within the storage range.

[0020] Preferably, the first actuator is configured as a lead screw assembly or a combination of a slide rail and a slider. The first actuator drives the second actuator at the top and the entire material to move on the carrier frame; adjusting the material's horizontal entry spacing within a safe range.

[0021] Preferably, the safe range of the material entry spacing is set as follows: the distance between the edge of the material and the baseline is no more than 2 mm; the deviation between the posture angle of the material when it enters the warehouse and the target angle is no more than 0.5 degrees.

[0022] Preferably, the guide transfer components are configured as two parallel sets, with the material mounted on the two sets of guide transfer components that operate synchronously, and a space is reserved between the two sets of guide transfer components for the first execution component to assemble and operate;

[0023] The guide transfer component is configured as one of the following: chain drive mechanism, belt drive mechanism, gear drive mechanism, and guide rail slider mechanism.

[0024] Preferably, the propulsion component includes at least two parallel cylinders, with a partition plate mounted on the driving end of the top of each cylinder. The propulsion component is fixed to a base plate at the bottom, and the rotation drive component is mounted on the partition plate. The base plate is placed on the carrying rack. Under the action of the follow drive component, the base plate moves along the track of the carrying rack, causing the first main actuator and the second detection unit to move synchronously with the material in the direction of approaching or moving away from the storage cabinet. The follow drive component is movably mounted on the frame plate of the guide transfer component.

[0025] Preferably, the second detection unit is configured as an electromagnetic coil, which is mounted on the surface of the interlayer plate. The outer shell of the material is made of a magnetically conductive material or / or a conductive material, and the material is placed within the magnetic field area of ​​the electromagnetic coil. The rotation drive supports the material and drives the material to rotate, changing the angle and posture of the material.

[0026] A method for loading and storing warehouse materials, applied to a warehouse material loading and storing system, the method comprising:

[0027] The equipment is powered on, and materials are loaded onto the guide transfer component of the second execution unit;

[0028] The first and second detection units are activated and complete the initial scan;

[0029] Based on the detection results of the first detection unit, the rotation adjustment angle of the material is obtained; after each adjustment, based on the tilt angle detected by the second detection unit, the control module updates the rotation adjustment angle.

[0030] Repeat the angle adjustment action until the material angle is within a safe range and meets the preset storage posture;

[0031] After each angle adjustment, based on the detection results of the first detection unit, the distance between the material edge and the storage cabinet edge is obtained, and the storage distance is adjusted to be within the safe range.

[0032] Once the material's entry angle and spacing are confirmed to match the preset entry posture, push the material into the storage cabinet.

[0033] Compared with the prior art, the advantages of the present invention are:

[0034] (1) By using a dual detection unit consisting of a laser array and an electromagnetic coil, the attitude and position information of the material can be obtained in real time. Combined with the precise control of the execution components by the control module, the attitude adjustment of the material entering the warehouse can be realized, including angle adjustment and warehouse spacing adjustment, thereby improving positioning accuracy and warehouse entry success rate.

[0035] (2) The system adopts a modular drawer-type structure and integrates multiple execution components. It can complete one or more battery clustering operations without stopping the machine. The storage process is smooth and stable, with high engineering practicality and scalability. It reduces manual intervention, lowers operation and maintenance costs, and is suitable for various warehousing scenarios.

[0036] (3) Through the rotation drive and propulsion structure in the first execution component, combined with the transfer function of the second execution component, the system can adapt to materials of different sizes and postures, and continuously correct the posture during the dynamic pushing process to ensure that the materials enter the storage cabinet in the optimal posture. The equipment system has good adaptability and reliability. Attached Figure Description

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0038] Figure 1 This is a partial three-dimensional structural diagram of the warehousing system described in this invention;

[0039] Figure 2 This is a partial three-dimensional schematic diagram of the loading of materials on the side of the electrical cabinet by the warehousing carrier described in this invention;

[0040] Figure 3 This is a top view of the assembly layout of the first and second execution components of the present invention;

[0041] Figure 4 This is a bottom view schematic diagram of the assembly of the first execution component and the second execution component of the present invention;

[0042] Figure 5 This is a modular schematic diagram of the first execution component of the present invention;

[0043] Figure 6 This is a schematic diagram of the control logic principle of the warehousing system described in this invention;

[0044] Figure 7 This is a flowchart illustrating the data entry method described in this invention.

[0045] The components include: 1. First execution component; 2. Second execution component; 3. Third execution component; 4. Main frame; 5. First detection unit; 6. Second detection unit; 7. Control module; 8. Storage cabinet;

[0046] 11. First executing primary component; 12. First executing secondary component;

[0047] 21. Guide transfer component; 22. Transition frame plate;

[0048] 41. Vertical side frame; 42. Storage rack;

[0049] 111. Rotation drive component; 112. Support; 113. Push component; 114. Seat plate; 115. Interlayer plate; 116. Follow drive component. Detailed Implementation

[0050] The present invention will be further described in detail below with reference to specific embodiments:

[0051] Traditional battery cluster insertion into electrical cabinets is usually achieved by using a lead screw tool. When replacing a single cluster, the entire cabinet needs to be shut down, relying on manual operation. Sometimes, multiple adjustments are required to accurately insert the battery, resulting in low overall positioning accuracy and low maintenance efficiency.

[0052] This invention provides a material loading and storage system for warehousing. A drawer-type loading carrier is set up next to the storage cabinet 8. The loading carrier realizes the automatic positioning of materials through laser positioning and electromagnetic assisted positioning. The material is rotated by a rotating and telescopic push plate structure to automatically correct the material loading posture and realize efficient material loading operation.

[0053] The following is a detailed description of an embodiment of battery clustering operation applied to an electrical cabinet. It is foreseeable that this invention is also applicable to other item storage operations, such as express delivery lockers, takeout lockers, and warehouse shelves, where the stored materials have at least an outer layer structure made of magnetic material capable of sensing electromagnetic fields.

[0054] See attached document Figure 1As shown, the storage cabinet 8 is an electrical cabinet, and the inbound carrier is a modular drawer-type structure. Materials are loaded onto the inbound carrier, and the operation of each part of the inbound carrier is automatically controlled by the control module 7. The inbound carrier includes a main frame 4 and a first execution component 1, a second execution component 2, and a third execution component 3 assembled on the main frame 4. Materials are loaded on the second execution component 2, and the first execution component 1 is located at the bottom of the materials. The control module 7 is electrically connected to the drive components of the first execution component 1, the second execution component 2, and the third execution component 3 respectively.

[0055] Overall, the warehousing carrier is used for storing electrical cabinets, and the material being stored is batteries. The third execution component 3 is set as a linear adjustment mechanism, such as a lead screw assembly or a guide rail slider structure. The control module 7 commands the third execution component 3 to drive the first execution component 1 and the second execution component 2 to move together, adjusting the position of the batteries in the vertical direction, and adjusting the material within the storage area. Ideally, the height of the batteries is aligned with the height of the electrical cabinet's storage opening.

[0056] Battery cabinets are typically rectangular or other (irregular) shapes used for storing batteries, with batteries of the same type having the same dimensions and appearance. For ease of description, in this embodiment, the battery as a whole is a cuboid structure, the cabinet's entry point (cabinet entrance) has a rectangular cross-section, and the storage space behind the entry point is a cuboid-shaped accommodating space.

[0057] Ideally, batteries should be placed in storage with their side edges parallel to the side walls of the cabinet opening and evenly spaced, allowing them to be pushed in smoothly without collision. However, in actual storage, batteries are placed on the storage carrier in varying postures each time. If the battery's side edges are rotated or tilted, it becomes difficult to place the battery in the storage container.

[0058] Therefore, the second execution component 2 drives the battery to move from far to near towards the battery cabinet entrance. During the battery's movement into the cabinet, the first execution component 1 synchronously adjusts the battery's posture to achieve the preset, compliant entry posture.

[0059] In this embodiment, the batteries are not allowed to be perfectly parallel, as long as the error angle is within the range. The deviation between the posture angle when the material is put into storage and the target angle is no more than 0.5 degrees. Preferably, the deviation range of ±0.1-±0.5 degrees can meet the target storage posture of most storage cabinets.

[0060] A first detection unit 5 is provided on the side where the storage cabinet 8 is located, and a second detection unit 6 is provided on the side where the second execution component 2 is located. The first detection unit 5 is a laser array, set on the surface of the storage cabinet 8, used to scan and obtain the material's entry posture; the second detection unit 6 is an electromagnetic coil, used to detect the tilt angle of the battery. It is foreseeable that the second detection unit can also be configured as multiple electromagnetic blocks, forming an array to generate a stable ring magnetic field for detecting the rotation angle of the battery above.

[0061] By employing laser positioning and electromagnetic coil-assisted positioning, precise fine-tuning of the battery is achieved, enabling high-precision positioning and warehousing. The logic control principle for high-precision positioning and warehousing is detailed in the appendix. Figure 6 As shown.

[0062] Specifically, refer to the appendix Figure 1 As shown, the main frame 4 of the storage vehicle includes a vertical side frame 41 and a cargo rack 42; combined with the attached... Figure 2 As shown, the second execution component 2 includes a guide transfer component 21, on which materials are placed and moved toward the storage cabinet 8 under the action of the guide transfer component 21.

[0063] See attached document Figure 3 Combined with appendix Figure 4 The provided assembly layout diagram shows the first execution component 1, the second execution component 2, the third execution component 3, and the main frame 4. The guide transfer component 21 is mounted on the rack 42 via the transition frame plate 22. The rack 42 is connected to the vertical side frame 41 via the third execution component 3 and moves along the vertical side frame 41, moving the materials to the storage area in the vertical direction. The storage area is defined as the space enclosed by the plane containing the top and bottom surfaces of the cabinet entrance.

[0064] Specifically, the first execution component 1 includes a first execution main component 11 and a first execution sub-component 12; the first execution main component 11 includes a support 112 and a rotation drive component 111, and the rotation drive component 111 and the support 112 are pushed toward the battery along a preset trajectory by the pusher component 113.

[0065] The rotation drive component 111 is located at the bottom of the support 112, and the push component 113 is a power drive component, configured as a combination of a motor and a push rod or a telescopic cylinder. (See attached diagram.) Figure 5 As shown, and in conjunction with the appendix Figure 3 The diagram shows the first actuator 11 assembled on the transition frame plate 22 and the carrier 42. The rotation drive 111 is installed on the drive end of the pusher 113, and the support 112 is installed on the drive end of the rotation drive 111. When the pusher 113 runs, the support 112 moves toward the battery and contacts and supports the battery above.

[0066] In detail, in one embodiment, as shown in the appendix Figure 5 As shown, the rotation drive 111 includes a motor, a ring gear and a gear pair. The ring gear is mounted on the support 112 and the gear pair is connected to the motor.

[0067] The pusher 113 includes four cylinders arranged in parallel. A partition plate 115 is provided above the pusher 113. The driving end of the cylinder faces the bottom of the partition plate 115 and is located at the four corners of the partition plate 115. The pusher 113 is fixed on the bottom seat plate 114. The rotation drive 111 is assembled on the partition plate 115. The seat plate 114 is placed on the carrier 42.

[0068] Under the action of the follower drive 116, the seat plate 114 moves along the track of the carrier 42, causing the first actuator 11 and the second detection unit 6 to move synchronously with the material in the direction of approaching or moving away from the storage cabinet 8. The follower drive 116 is assembled on the frame plate of the guide transfer member 21 through a screw structure or a slide rail slider structure. The follower drive 116 is configured as a combination of a motor and a telescopic rod or a cylinder.

[0069] The rotating drive component 111 drives the battery to rotate, cutting magnetic lines of force. Based on the principle of electromagnetic induction, the change in the magnetic field induces a change in the electric field, generating an induced current. The intensity and direction of the induced current are obtained, and the actual rotation angle of the battery is calculated.

[0070] The second detection unit 6 (electromagnetic coil) is mounted on the surface of the interlayer plate 115, and a slot is set at the corresponding position on the support 112. The outer shell of the material is made of magnetic or / or conductive material, and the material is placed in the magnetic field area of ​​the electromagnetic coil. Based on the detection results of the second detection unit 6, the control module 7 updates the angle difference between the current angle and the target angle. Based on the updated angle difference, it controls the rotation drive 111 to run, rotating to change the material's entry angle and posture. After the material posture is adjusted, the pusher 113 retracts, placing the material back on the guide transfer member 21 and continuing to run, resetting the rotation drive 111 and the support 112, waiting for the next rotation adjustment.

[0071] Specifically, the guide transfer component 21 is configured as one of a chain drive mechanism, a belt drive mechanism, or a gear drive mechanism. (See attached diagram.) Figure 2 As shown, the guide transfer component 21 is configured as two sets of parallel chain drive structures, and the bottom of the overall frame is connected to the transition frame plate 22; the material is loaded on the two sets of guide transfer components 21 that operate synchronously, and a space is reserved between the two sets of guide transfer components 21 for the assembly and operation of the first execution component 1.

[0072] The inbound spacing is adjusted to be within a safe range by the first actuator 12; the first actuator 12 is configured as a lead screw structure or a slide rail slider structure, see attached... Figure 3As shown, the first execution component 12 is configured as a slide rail slider structure. The transition frame plate 22 is mounted on the first execution component 12 via a slider. The first execution component 12 is assembled on the carrier frame 42. The first execution component 12 moves along the frame beam on the carrier frame 42, driving the second execution component to move. At the same time, it moves synchronously with the lead screw structure or slide rail slider structure at the bottom of the follow drive component 116, so that the battery is always kept within the detection range of the second detection unit 6, that is, within the magnetic field range of the electromagnetic coil.

[0073] This invention provides a battery cluster loading system capable of high-precision positioning, automatic material posture correction, and continuous automated operation. Through a dual detection unit composed of a laser array and an electromagnetic coil, the system acquires the material's posture and position information in real time. Combined with precise control of the execution components by the control module, it achieves material loading posture adjustment, including angle adjustment and loading spacing adjustment. This enables modular hot-swappable battery clusters and millimeter-level high-precision positioning, supports online replacement of single clusters, with a target loading time of no more than 90 seconds. An electromagnetic-laser redundant positioning system ensures a docking error of less than 0.1 mm, resulting in high operational efficiency.

[0074] This invention further provides a method for loading and storing warehouse materials, applied to the aforementioned warehouse material loading and storing system, as shown in the attached figure. Figure 7 The logic block diagram of this method includes at least the following:

[0075] Step 1: Power on the equipment and load the material onto the guide transfer track of the second execution component 2.

[0076] Step 2: The first detection unit 5 and the second detection unit 6 are started and the initial scan is completed, including initialization, pre-calibration and reference calibration.

[0077] Step 3: Based on the inbound posture detected by the first detection unit 5, the control module 7 obtains the target angle difference that the material needs to be adjusted; based on the target angle difference, the control module 7 instructs the first execution component 1 to adjust the inbound posture of the material by rotation, and updates the target angle difference between the process tilt angle and the target angle based on the process tilt angle obtained by the second detection unit 6.

[0078] Specifically, the first detection unit 5 scans one side of the vehicle entering the warehouse in real time. Based on the principle of laser scanning, it includes ranging, scanning, stitching, modeling and positioning. It constructs a three-dimensional contour model of the battery through point cloud, and accurately determines the position and orientation.

[0079] Set the straight line containing the longitudinal edge of the side wall of the storage cabinet 8 inlet as the baseline, and the perpendicular line to the straight line containing the maximum width of the material inlet end face as the material edge line. Under the target state, the baseline and the material edge line are parallel. Set the angle between the material edge line and the baseline under the material inlet posture as the target angle difference.

[0080] The rotating drive unit drives the battery to rotate, adjusting the angle. Since the angle adjustment occurs dynamically or intermittently, and is affected by the adjustment accuracy of the rotating drive unit 111, even if the adjustment is made according to the target angle difference, the battery may not reach the ideal state. Therefore, the second detection unit 6 detects the adjusted angle, i.e., the process tilt angle. The process tilt angle is set as follows: the actual angle adjusted by the material when the first execution component 1 rotates the material once. The process tilt angle is used to check the angle deviation between the current posture of the material and the preset storage state. After each rotation adjustment, the control module 7 updates and determines the new rotation adjustment angle based on the detection result of the second detection unit 6, preparing to enter the next round of angle adjustment.

[0081] Step 4: After each angle adjustment, based on the detection results of the first detection unit 5, obtain the distance between the material edge and the edge of the storage cabinet, and adjust the storage distance to be within the safe range.

[0082] Specifically, based on the 3D contour model of the battery, a clear battery storage posture can be obtained, along with the position of the battery's center point and the storage distance between the material edge and the side wall of the storage cabinet entrance. This storage distance can then be adjusted to maintain a safe distance. The measurement process for the storage distance is as follows:

[0083] The center of the inlet is the target point, and the straight line passing through the target point and parallel to the baseline is the central axis.

[0084] Based on the data obtained by the first detection unit 5, the center point of the battery is obtained, and the straight line passing through the center point of the battery and parallel to the edge of the material is the battery axis.

[0085] Under the target conditions, the battery axis and the central axis are in a straight line, and in the horizontal direction, the distance between the material edge line and the baseline is no more than 2 mm.

[0086] Step 5: Cyclicly rotate and adjust the material's entry posture. During the pushing process, there may be vibration and deviation, so the angle should be adjusted (cycle through Step 3) at least twice until the material's adjusted posture matches the preset entry posture (angle within the error range, entry spacing within the error range).

[0087] Step 6: The second execution component 2 moves the material to the entrance of the storage cabinet according to the preset trajectory, and pushes the material into the storage cabinet 8 when the material meets the preset storage posture.

[0088] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A material loading warehouse system for warehousing, characterized by, The warehouse control system comprises a control module (7), a warehouse-in vehicle and a storage cabinet (8), the warehouse-in vehicle comprises a main frame (4) and a first execution assembly (1), a second execution assembly (2) and a third execution assembly (3) assembled on the main frame (4), a material is carried on the second execution assembly (2), and the first execution assembly (1) is arranged at the bottom of the material; A first detection unit (5) is arranged on the side where the storage cabinet (8) is located, and a second detection unit (6) is arranged on the side where the second execution assembly (2) is located; the first execution assembly (1), the second execution assembly (2), the first detection unit (5) and the second detection unit (6) are electrically connected with the control module (7) and controlled by the control module (7); The control module (7) obtains a target angle difference that needs to be adjusted for the material based on the warehouse-in posture of the material obtained by the first detection unit (5); Based on the target angle difference, the control module (7) instructs the first execution assembly (1) to rotate and adjust the angle of the material, and based on the process tilt angle of the material after adjustment detected by the second detection unit (6), the control module (7) updates the target angle difference; The second execution assembly (2) adjusts the warehouse-in posture of the material multiple times in the process of moving the material to the entrance of the storage cabinet according to a preset track, and in the case that the material after adjustment meets the preset warehouse-in posture, the material is pushed into the warehouse-in port of the storage cabinet (8); A straight line where a side wall longitudinal depth line of the warehouse-in port of the storage cabinet (8) is located is set as a reference line, a perpendicular of a straight line where the maximum width of the material warehouse-in end surface is located is set as a material edge line, and the reference line is parallel to the material edge line in the target state; an angle between the material edge line and the reference line in the material warehouse-in posture is set as the target angle difference; The process tilt angle is set as: the angle corresponding to the adjustment of the material after the first execution assembly (1) rotates the material once; the process tilt angle is used to check the angle deviation between the current posture of the material and the preset warehouse-in state; The first execution assembly (1) comprises a first execution main part (11) and a first execution auxiliary part (12); the first execution main part (11) comprises a support seat (112), a rotating driving part (111) and a pushing part (113); The pushing part (113) drives the rotating driving part (111) and the support seat (112) to run to the state that the support seat (112) contacts and supports the material, the control module (7) controls the rotating driving part (111) to run based on the detection result of the first detection unit (5), and the warehouse-in posture of the material is rotated and changed; After the posture of the material is adjusted, the pushing part (113) resets the rotating driving part (111) and the support seat (112) according to a preset track; And after the posture of the material is adjusted, the position of the center point of the material is obtained based on the warehouse-in posture detected by the first detection unit (5), the warehouse-in distance between the material and the side wall of the entrance of the storage cabinet is obtained, and the first execution auxiliary part (12) is used to adjust the warehouse-in distance to be within a safe range.

2. The material loading and warehousing system according to claim 1, wherein, The main frame (4) comprises a vertical side frame (41) and a material carrying frame (42). The second execution assembly (2) comprises a guiding and moving member (21), the material is arranged on the guiding and moving member (21), and the guiding and moving member (21) moves the material to the storage cabinet (8); The guiding and moving member (21) is assembled on the material carrier (42) through a transition frame plate (22), and the material carrier (42) is connected to the vertical side frame (41) through a third execution assembly (3); The control module (7) controls the third execution assembly (3) to operate, so as to drive the first execution assembly (1) and the second execution assembly (2) to move integrally, and the height of the material is adjusted in the storage interval range.

3. The material loading warehouse system according to claim 2, wherein, The first execution subassembly (12) is a combination of a lead screw assembly or a sliding rail and a sliding block, the first execution subassembly (12) drives the second execution assembly (2) at the top and the material to move on the material carrier (42); and the storage interval of the material in the horizontal direction is adjusted in the safe interval.

4. The material loading and warehousing system according to claim 1, wherein, The safe interval range of the storage interval is that the distance between the edge line of the material and the reference line is not greater than 2 mm, and the deviation between the attitude angle of the material when the material is stored and the target angle is not greater than 0.5 degrees.

5. The material loading and warehousing system according to claim 2, wherein, The guiding and moving member (21) is provided in two parallel groups, the material is arranged on the two groups of guiding and moving members (21) which operate synchronously, and a space region is reserved between the two groups of guiding and moving members (21) for assembly and action of the first execution assembly (1); The guiding and moving member (21) is provided in one of a chain transmission mechanism, a belt transmission mechanism, a gear transmission mechanism and a guide rail and sliding block mechanism.

6. The material loading and warehousing system according to claim 2, wherein, The advancing member (113) comprises at least two parallel air cylinders, a drive end at the top of the air cylinder is provided with an interlayer plate (115), the advancing member (113) is fixed to a seat plate (114) at the bottom, the rotating drive member (111) is assembled on the interlayer plate (115), and the seat plate (114) is arranged on the material carrier (42); under the action of a following drive member (116), the seat plate (114) moves along the track of the material carrier (42), so that the first execution main assembly (11) and the second detection unit (6) move in the direction of approaching or moving away from the storage cabinet (8) synchronously with the material, and the following drive member (116) is movably arranged on the frame plate of the guiding and moving member (21).

7. The material loading warehouse system according to claim 6, wherein, The second detection unit (6) is provided as an electromagnetic coil, the electromagnetic coil is assembled on the surface of the interlayer plate (115), the shell of the material is made of a magnetic conductive material or / and an electrically conductive material, and the material is arranged in the magnetic field region of the electromagnetic coil; the rotating drive member (111) supports the material and rotates the material to change the angle attitude of the material.

8. A material loading and warehousing method applied to the material loading and warehousing system of any one of claims 1-7, characterized in that, The method comprises the following steps: The device is powered on, and the material is loaded on the guiding and moving member of the second execution assembly (2); The first detection unit (5) and the second detection unit (6) are started, and initial scanning is completed; Based on the detection result of the first detection unit (5), the rotating adjustment angle of the material is obtained; after each adjustment, the process inclination angle detected based on the second detection unit (6) is verified, and the control module (7) updates the rotating adjustment angle; The angle adjustment action is performed multiple times until the material angle is in a safe range and meets the preset storage posture; After each angle adjustment, the distance between the material edge and the edge line of the storage cabinet is obtained based on the detection result of the first detection unit (5), and the storage distance is adjusted to be within the safe range; It is confirmed that the storage angle and the storage distance of the material meet the preset storage posture, and the material is pushed into the storage cabinet.

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