An automated storage and retrieval system, a system and a method of operation

Abstract

The application relates to an automated stereoscopic warehouse, which comprises a control device, a storage area, a warehousing area and a delivery area, the warehousing area is provided with a limiting guide rail, the limiting guide rail comprises a material waiting station and a plurality of material moving stations which are arranged at equal intervals, a material moving device is arranged on one side of the material moving station, the material waiting station is arranged at the rear end of the limiting guide rail, a two-dimensional code recording a fastener batch is arranged on the outer side of a trolley, an identification mechanism for identifying the two-dimensional code is arranged outside the material waiting station, the material moving device and the identification mechanism are electrically connected with the control device, the storage area comprises a base frame, the base frame comprises a plurality of storage units arranged in a grid shape, a truss is arranged above the base frame, the truss comprises a grabbing device and a moving device, and trolleys of the same batch are stacked and placed on the storage units. Through the above technical scheme, accurate identification of the fastener batch, automatic warehousing and centralized storage with high space utilization are realized, the management process is simplified, and the accuracy and efficiency of the warehousing operation are improved.

Description

Technical Field

[0001] This invention belongs to the field of automated storage and retrieval systems (AS / RS) technology, specifically relating to an automated AS / RS, system, and operating method. Background Technology

[0002] In automotive parts manufacturing, fasteners (such as bolts and nuts) are characterized by their wide variety, complex specifications, and multiple batches produced alternately. The production process typically involves multiple steps, including material preparation, heat treatment, and surface treatment. Semi-finished and finished products need to be temporarily stored and transferred in batches. Traditional warehouses often use flat shelves or floor stacking, resulting in significant waste of vertical space. The fixed shelf specifications make it difficult to accommodate fasteners of various specifications (such as mixing full boxes and loose parts), leading to low space utilization, batch confusion of fasteners, reliance on manual handling and picking, low automation, high error rates, and low efficiency. Summary of the Invention

[0003] In summary, to overcome the shortcomings of the prior art, the present invention provides an automated three-dimensional warehouse.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automated storage and retrieval system (AS / RS), comprising a control device, a storage area, an inbound area, and an outbound area. The inbound and outbound areas are symmetrically arranged on both sides of the storage area. The inbound area is provided with a limiting guide rail. The limiting guide rail includes a waiting station and multiple equidistant transferring stations. A transferring device for moving a material cart along the limiting guide rail is provided on one side of each transferring station. The limiting guide rail includes a front end and a rear end. The waiting station is located at the rear end of the limiting guide rail. The outer side of the material cart is provided with... The fasteners are equipped with a QR code that records the batch number of fasteners. An identification mechanism for recognizing the QR code is provided on the outside of the waiting station. The material transfer device and the identification mechanism are electrically connected to the control device. The storage area includes a base frame, which includes multiple storage units arranged in a grid pattern for placing material carts. A truss operated by the control device is provided above the base frame. The truss includes a gripping device for grabbing material carts and a moving device for driving the gripping device to move three-axis between the waiting station and the base frame. Material carts of the same batch are stacked on the storage units.

[0005] By adopting the above technical solution, and through QR code recognition and material cart stacking design, accurate batch identification of fasteners, automated warehousing, and centralized storage with high space utilization are achieved, simplifying management processes and improving the accuracy and efficiency of warehousing operations. By designing guide rails adapted to the material carts ("waiting stations" and "multiple equidistant transfer stations" on the limit guide rails), transfer devices, and gantry gripping devices in conjunction with the identification mechanism, it is ensured that the material carts are smoothly transported during the warehousing process, and the fastener batch information recorded on their outer surfaces is accurately and automatically identified, solving the problem of high requirements for material carts in the warehousing process. The challenge of accurate identification and docking is the fundamental hardware guarantee for achieving automated batch management, completely eliminating batch confusion and facilitating accurate material retrieval by the gantry. The gantry and gripping devices on the elevated structure, in conjunction with the control device, can move quickly and accurately between the identification station and the grid-distributed storage units. It works in close coordination with the stackable material carts and storage unit structure to achieve efficient, accurate, safe, and labor-saving inbound and outbound operations. Material carts of the same batch are stacked in the storage units, which greatly improves the utilization rate of vertical space and storage density, while simplifying the operation of overall storage and retrieval by batch.

[0006] The present invention further comprises: the material cart includes a base for loading fasteners, handles for gripping devices are provided on both sides of the base, chassis rollers are provided below the base, and a limiting groove for stacking material carts is provided above the base. The limiting groove is adapted to the chassis rollers. The storage unit has receiving parts on both sides for supporting the base. When the material cart is mounted above the receiving parts, a gap is provided between the chassis rollers and the bottom of the receiving parts.

[0007] By adopting the above technical solutions, handles are provided for easy gripping of the truss, making it safer and more stable. The matching of the "limiting groove" and the "chassis rollers" ensures that the stacked trolleys maintain absolute vertical alignment, greatly improving the utilization rate of vertical space and avoiding collapse accidents caused by stacking tilt. The gap between the chassis rollers and the bottom of the receiving part allows the base body to bear the weight (the base is erected on the receiving part), while the chassis rollers are suspended, reducing the pressure on the chassis rollers, extending the roller life, and preventing the material cart from sliding.

[0008] The present invention further specifies that: the storage unit is set with a limited stacking quantity h, and the number of material carts in the same batch entering the warehouse is X. When X>h, the material carts in this batch will be stacked in two or more storage units. When X≤h, the material carts in this batch will be stacked on the same storage unit. Material carts from different batches will not be stacked on the same storage unit. When the truss grabs the material carts into the warehouse, the utilization order of the storage units is distributed in a semi-concentric circle with the waiting station as the center. The utilization order of the vacant storage units is sorted according to their distance from the waiting station as the priority order.

[0009] By adopting the above technical solution, different batches are never placed in the same storage unit, and the same batch is stacked together, ensuring the absoluteness of batch isolation. This is suitable for the management of materials such as fasteners that require strict batch traceability, improving the reliability and traceability of warehouse management. When the gantry grabs and puts materials into storage, the utilization order of empty storage units is distributed in a semi-concentric circle with the identification station as the center. The shorter the distance, the higher the priority, reducing the complexity of system decision-making and calculation costs. By shortening the average handling distance, the storage efficiency is improved, and the implementation is simple and reliable. When there are too many carts of the same batch, the control device automatically divides the large batch into multiple storage units, while the small batch is stacked. An upper limit is set to improve space utilization, while reducing the stacking load to ensure the structural bearing reliability and avoiding excessive stacking height, thus improving the stability and safety of the stack.

[0010] The invention further comprises: the material transfer device including a fixed frame and a movable frame, a sliding rail parallel to the limiting guide rail is provided between the fixed frame and the movable frame, a first sliding seat adapted to the sliding rail is provided on the side of the movable frame corresponding to the fixed frame, and a first driving mechanism for driving the movable frame to slide back and forth along the sliding rail is provided on the fixed frame. Multiple material transfer components are equidistantly arranged on the fixed frame and the movable frame along the sliding rail direction, the spacing between the material transfer components on the fixed frame is equal to the spacing between the material transfer components on the movable frame and is adapted to the spacing between the material transfer stations; when the first driving mechanism drives the movable frame to move backward, the material transfer components on the movable frame drive the material cart to the next material transfer station. During the movement, the material transfer components on the fixed frame retract from between the material carts. When the material transfer action is completed, the material transfer components on the fixed frame reset to prevent the material cart from retracting; when the first driving mechanism drives the movable frame to reset and move forward, the material transfer components on the movable frame retract from between the material carts to prevent the material cart from retracting.

[0011] By adopting the above technical solution, the spacing between the material transfer components on the fixed frame and the movable frame is perfectly matched with the spacing between the material transfer stations. A single action can simultaneously push all the material carts on the material transfer stations forward one station at a time, greatly improving the transmission efficiency and adapting to the high-frequency, high-volume material feeding needs of automotive parts factories. When the movable frame pushes the material, the fixed frame retracts, and when the movable frame resets, its own material transfer components automatically avoid the obstacle. The movable frame pushes the material, while the fixed frame limits and prevents backflow. All material carts move at the same speed and distance, completely eliminating the collisions commonly seen in multi-cart transmission. The functions are clearly defined, easy to use, and highly stable. The structure is simple, easy to assemble, has low production and maintenance costs, high efficiency, and greatly improves space utilization efficiency.

[0012] The invention further comprises: the material transfer assembly including a hinge plate, a positioning block, and a tension spring; the hinge plate includes a hinged end hinged to the frame and a movable end inserted between the material transfer stations; the positioning block is located on the side of the hinged end corresponding to the feed end; one end of the tension spring is connected to the movable end, and the other end is connected to the frame; when the first drive mechanism drives the movable frame to move backward, the hinge plate on the movable frame drives the material cart to the next material transfer station; during the movement, the hinge plate on the fixed frame is pushed open by the material cart, and the tension spring is pulled open; when the material transfer action is completed, the tension spring drives the hinge plate to reset; when the first drive mechanism drives the movable frame to reset and move forward, since the hinge plate on the fixed frame is in an abutting state to prevent the material cart from retracting, the hinge plate on the movable frame is pushed open from the material cart at the front end during the movement, and the tension spring is pulled open; when the reset action is completed, the tension spring drives the hinge plate to reset.

[0013] By adopting the above technical solution, when the material cart needs to be pushed backward, the hinge plate on the movable frame drives the material cart to push it backward. When the movable frame reverses and resets, the hinge plate is passively pushed open by the material cart, and the spring ensures that it quickly resets, ready for the next material transfer action. The material transfer component on the fixed frame acts as a "backlash pawl" to prevent the material cart from moving forward and backward. By using purely mechanical and passive physical interaction, unidirectional propulsion, automatic avoidance, and reliable anti-backwardness are achieved. The tension spring is a key buffer element. When the hinge plate encounters resistance in the non-working direction (such as being pushed away by the trolley), the spring is stretched to absorb energy, allowing the hinge plate to rotate smoothly to make way, avoiding rigid collisions with the trolley. It has flexible adaptive capability, can tolerate slight deviations in the trolley position, minor foreign objects on the chassis, etc., is not easy to jam, and has strong impact resistance and fault tolerance. It has a simple structure, high reliability, low cost, and is maintenance-free.

[0014] The present invention further includes: the material transfer device further includes a material transfer frame for moving the material cart between the material transfer station and the waiting station; the material transfer frame is also provided with a material transfer component; a second sliding seat adapted to the sliding rail is provided on one side of the material transfer frame corresponding to the fixed frame; a second driving mechanism for driving the material transfer frame to slide back and forth along the sliding rail is provided on the fixed frame; the first driving mechanism is provided at the front end of the fixed frame; the second driving mechanism is provided at the rear end of the fixed frame; a limiting block is provided at the rear end of the waiting station to ensure that the QR code of the material cart is aligned with the identification mechanism; a first sensor for sensing whether a material cart exists at the rearmost material transfer station is provided between the waiting station and the material transfer station; a second sensor for sensing whether the material cart has moved into place is provided at the rear end of the waiting station; a first stroke sensing component for limiting the single movement stroke of the movable frame and a second stroke sensing component for limiting the single movement stroke of the material transfer frame are provided on the inner side of the limiting guide rail.

[0015] By adopting the above technical solution, the movable frame is responsible for single-station step-by-step material transfer among dense material transfer stations. The material transfer frame is responsible for moving the trolley from the last material transfer station to the last waiting station, achieving stroke separation. When the movable frame is performing step-by-step material pushing, the material transfer frame can synchronously (or staggered timing, i.e., the material transfer frame works when the movable frame resets, or both work independently) move the trolley that has reached the last material transfer station to the waiting station, achieving parallel operation, eliminating waiting time between processes, significantly improving the cycle time of the entire line, and improving overall transmission efficiency; the first sensor detects the last material transfer station, and the second sensor detects the waiting station. The workstation provides real-time feedback on the status of "whether there is a cart" and "whether the cart is in position" to the control device, triggering subsequent actions. The first and second stroke sensing components have hard limit stops, making material transfer more precise. The limit block provides a rear limit when the cart enters the waiting workstation, while the material transfer component of the transfer frame provides a front limit when the cart enters the waiting workstation. Both front and rear limits ensure that the cart is in position at the waiting workstation, and its QR code can be stably and accurately recognized by the identification mechanism. The first drive mechanism (controlling the moving frame) is located at the front of the fixed frame, and the second drive mechanism (controlling the transfer frame) is located at the rear. The front and rear distribution and physical isolation make assembly and maintenance more convenient and the stability higher.

[0016] An automated storage and retrieval system (AS / RS) management system includes an inbound conveying module for sensing the status of material carts within the limit guide rails in the inbound area, moving the material carts to the waiting workstations for identification via a material transfer device, and controlling the identification mechanism for identification and scanning; an information receiving module for receiving QR code information scanned by the identification mechanism and receiving outbound requests from the system; a warehouse management module for generating inbound or outbound orders based on the information received from the information receiving module, and planning inbound or outbound routes for the trusses; and a data storage module for displaying inventory information in real time and generating inbound or outbound records based on inbound or outbound instructions, storing these records in the data storage module.

[0017] By adopting the above technical solution, the inbound conveying module is linked with sensors, stroke sensing components, material handling devices, and identification mechanisms to automatically complete the entire process from the material cart's stepping movement to its precise location at the waiting station and QR code recognition, without manual intervention, achieving full automation of material flow before warehousing. The system automatically triggers the generation of task orders (inbound or outbound orders are collectively referred to as task orders) starting from information reception, and drives the truss to execute tasks (inbound or outbound orders are collectively referred to as tasks) according to the planned route. The response is fast, the cycle time is stable, and delays and errors caused by manual information transmission are avoided. The warehouse management module can not only generate tasks but also perform route planning, reducing the need for truss management based on the current three-dimensional inventory status of the warehouse, the real-time position of the truss, and task priorities. The overhead running time improves equipment utilization and inbound / outbound efficiency; the real-time display function of the data storage module makes the inventory status (including name, type, batch, quantity, and location) clear at a glance, allowing managers to grasp the overall situation at any time and achieve refined inventory control. It provides timely and accurate data support for production planning and material scheduling, fundamentally solving the problem of parts confusion; from QR code scanning (binding material information) to the generation of records and storage in the data storage module, the inbound time, storage location, outbound time, and corresponding order of each batch of fasteners are completely and accurately recorded. In the event of a quality problem, forward traceability (product flow) and reverse traceability (material source) can be achieved instantly, meeting the strict quality management requirements of the automotive industry.

[0018] The invention further includes the following configuration: The warehouse management module generates an inbound order based on the QR code information scanned by the identification mechanism; the warehouse management module receives outbound requests, selects the corresponding model of parts, and generates an outbound order; based on the inbound or outbound order, the warehouse management module generates inbound or outbound instructions for the truss, with outbound instructions taking precedence over inbound instructions; after the truss completes the inbound or outbound instructions, the warehouse management module generates inbound or outbound records, updates them in real time, and generates inventory information based on the operations, storing it in the data storage module; based on the inventory information generated from the inbound and outbound records, and prioritizing the distance between vacant storage units and waiting workstations in a semi-concentric circle distribution centered on the waiting workstations, the warehouse management module generates a truss inbound route plan; when inbound orders belong to the same batch of the same parts, the warehouse management module prioritizes stacking in the truss inbound route plan; based on the inventory information and outbound orders, and prioritizing the order of inbound batches of corresponding model parts, the warehouse management module generates a truss outbound route plan.

[0019] By adopting the above technical solution, the principle of "outbound instructions taking precedence over inbound instructions" is established. The rigid scheduling principle ensures that outbound operations supplying materials to the production line receive unconditional priority responses when the system concurrently receives inbound and outbound requests. This fundamentally avoids the risk of production line shutdowns due to material shortages caused by warehousing system response delays. The algorithm solidifies the primary and secondary relationships of warehousing services and production, improving the overall robustness of the production system. The inbound path employs a combination of distance priority and batch merging strategies. The system prioritizes the nearest vacant storage unit centered on the current inbound port (waiting station), minimizing the truss's unloaded movement distance, thereby shortening the single operation cycle and increasing throughput per unit time. Simultaneously, when inbound tasks belonging to the same batch and the same part are identified, the system prioritizes stacking them in the same storage unit, significantly reducing the number of truss addressing and movement operations during subsequent access operations for that batch of materials. This also significantly improves the volumetric efficiency of the automated warehouse, achieving dual optimization of operational efficiency and space utilization. Outbound operations based on the order of inbound batches effectively prevent parts from expiring or rusting due to long-term stockpiling. This invention is particularly suitable for materials with quality and time-sensitive requirements, such as automotive parts, as it prevents corrosion or performance degradation. It establishes a strongly correlated real-time data flow of "instruction-execution-record-update." Each time the gantry completes a physical storage or retrieval operation, the system immediately and automatically triggers the writing of corresponding task records (inbound / outbound records) and updates inventory information. The state of the inventory data storage module is a real-time and accurate mapping of the physical operations in warehousing, achieving a synchronous effect of "accounts moving with the goods." This solves the problem of discrepancies between accounts and physical inventory caused by information lag and human error in traditional warehousing management models, providing a unique, reliable, and real-time high-quality data source for production planning, material scheduling, and financial accounting. Through an innovative priority scheduling mechanism, intelligent multi-objective path planning algorithm, real-time data closed-loop management, and embedded business rules, it constitutes an efficient, reliable, and standardized management system. This not only significantly improves the operating efficiency of individual equipment and the utilization rate of warehouse space, but more importantly, it ensures production continuity, material quality, and data accuracy through system-level optimization.

[0020] The present invention further includes the following configuration: the storage unit is set to limit the stacking quantity to h, and the inbound order of the same batch is X. When X≤h, the material carts of the same batch will be stacked on the same storage unit; n is a natural number greater than 0. When X=nh+1, the control device searches the remaining empty storage units and generates a new truss inbound route plan according to the priority order. When nh+1<X≤(n+1)h, the control device stacks the material carts according to the truss inbound route plan formed when X=nh+1. Material carts of different batches will not be stacked on the same storage unit.

[0021] By adopting the above technical solution, when X ≤ h, the "whole batch of material carts stacking" strategy is used to store parts of the same batch in one storage unit, maximizing the utilization of the unit's space and simplifying management. When X > h, especially when X = nh + 1, the core algorithm is activated, and the system actively searches for and plans new vacant storage units, reserving reasonable space for this "1" part and subsequent parts of the same batch that may arrive. When nh + 1 < X ≤ (n+1)h, the planned new units are directly used for stacking and filling. The dynamic allocation mechanism ensures that the volume of each storage unit can be fully utilized as much as possible, especially avoiding the serious space waste caused by material carts occupying the entire unit, significantly improving the overall space utilization of the automated warehouse (provided that only the same batch of the same product is stacked). When conditions permit (X ≤ h), h) By grouping goods of the same batch into the same unit, the time spent planning gantry routes and moving gantry structures is significantly reduced when outbound or inventorying this batch in the future. This also reduces long-distance travel and empty movement of equipment caused by disordered storage, improving the overall throughput efficiency of the system. The core principle of "never mixing different batches in the same storage unit" is physically enforced through the control logic of the control device. Regardless of changes in the batch quantity, the system strictly distinguishes batches by storage unit when allocating storage locations, ensuring that each storage unit corresponds to a unique batch in both physical space and information management. This fundamentally eliminates batch confusion and provides a solid and clear data foundation for end-to-end quality traceability. The system can dynamically calculate the optimal storage location allocation scheme (the number of units required and the stacking quantity of each unit) based on the number of inbound orders (X) received in real time, and generate corresponding execution instructions. This allows the warehousing system to flexibly respond to inventory changes caused by fluctuations in production plans, maintaining a highly efficient and orderly operating state at all times.

[0022] An automated storage and retrieval system (AS / RS) inbound operation method includes the following steps: Step S1: Confirm that the control device is in normal working condition and the gantry and material transfer device are in standby condition; Step S2: When the limit guide rail in the inbound area is in the "cart present" state, the material transfer device in the inbound area starts working and moves the material cart from the material transfer station to the waiting station; Step S3: When the first sensor detects "cart present", the material transfer frame starts working and moves the material cart from the last material transfer station to the waiting station; when the second sensor detects "cart present", it indicates that the material cart has arrived, the material transfer frame stops moving, and the identification mechanism starts working; Step S4: The identification structure transmits the scanned QR code information to the control device via information transmission. The control device generates an inbound command, controls the gantry to move to the waiting station to grab and move the material cart, and moves and stacks the material cart on the storage unit according to the inbound route; Step S5: After completing step S4, if the limit guide rail in the inbound area is still in the "cart present" state, repeat steps S2-S3; Step S6: When the recognition structure finds that the part batch of the material cart is the same as the part batch of the previous material cart by scanning the QR code information, the control device controls the gantry to grab the material cart and stack it on the previous storage unit. When the batches are different, the control device controls the gantry to grab the material cart and place it on an empty storage unit; Step S7: When the limit guide rail in the inbound area is still in the "no cart" state, the material transfer device stops working.

[0023] By adopting the above technical solution, and through the unified scheduling of the truss, material handling device, sensors, and identification mechanism by the control device, the entire process from material car arrival, positioning, identification to warehousing and stacking is automated. Each link is closely linked based on sensor signals and instructions, significantly reducing manual intervention and greatly improving the continuity and overall efficiency of warehousing operations. The identification mechanism scans QR codes to obtain part batch information, and the control device intelligently decides the stacking strategy based on this batch information (stacking materials from the same batch and separating different batches). This achieves refined and intelligent management of parts storage, facilitating centralized management and traceability of materials from the same batch, and effectively optimizing the storage space utilization of the automated warehouse, realizing efficient warehouse layout. The system features automatic optimization; it establishes clear state judgments and loop logic (such as the "car on / off" state judgment of the limit guide rail, sensor triggering mechanism, batch comparison decision, etc.), and sequential control logic based on multiple condition judgments, which makes the system run in an orderly manner, avoids misoperation and conflict, and significantly enhances the reliability and operational stability of the system when handling continuous warehousing tasks; the method strictly links equipment start-up and shutdown with the work process (such as the material transfer device stopping when the limit guide rail is "off"), so that key equipment such as gantry and material transfer device are only started when needed, and enter standby or stop state after completing the specified task. The on-demand start-up and shutdown control strategy helps reduce equipment idling losses, save energy, and extend equipment service life.

[0024] The embodiments describe specific implementations of the present invention. Attached Figure Description

[0025] Figure 1 This is a partial structural diagram of Embodiment 1 of the present invention.

[0026] Figure 2 This is a partial structural schematic diagram of Embodiment 2 of the present invention.

[0027] Figure 3 This is a perspective view of Embodiment 1 of the present invention.

[0028] Figure 4 This is a partial structural front view of Embodiment 1 of the present invention.

[0029] Figure 5 This is a magnified view of a partial structure of the storage area in an embodiment of the present invention.

[0030] Figure 6 This is a partial three-dimensional structure of an embodiment of the present invention. Figure 1 .

[0031] Figure 7 This is a partial three-dimensional structure of an embodiment of the present invention. Figure 2 .

[0032] Figure 8 This is a flowchart illustrating the management system according to an embodiment of the present invention.

[0033] Figure 9 This is a schematic diagram of the architecture of the management system according to an embodiment of the present invention.

[0034] Figure 10 This is a schematic diagram of the inbound process in the warehouse management module of this embodiment of the invention.

[0035] Figure 11 This is a flowchart illustrating the data entry operation method according to an embodiment of the present invention.

[0036] Reference numerals: 1. Storage area, 11. Base frame, 111. Storage unit, 112. Limiting groove, 113. Receiving part, 2. Inbound area, 3. Outbound area, 4. Limiting guide rail, 41. Waiting station, 411. Limiting block, 42. Transfer station, 5. Transfer device, 51. Fixed frame, 511. Sliding rail, 52. Movable frame, 53. First drive mechanism, 54. Transfer assembly, 541. Hinge plate, 542. Positioning block, 543. Tension spring, 55. Transfer frame, 56. Second drive mechanism, 57. First sensor, 58. Second sensor, 591. First stroke sensing assembly, 592. Second stroke sensing assembly, 6. Identification mechanism, 7. Truss, 71. Gripping device, 72. Moving device, 8. Cart, 81. Base, 82. Handle, 83. Chassis roller. Detailed Implementation

[0037] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0038] See appendix Figure 1-7 An automated storage and retrieval system (AS / RS) includes a control device, a storage area 1, an inbound area 2, and an outbound area 3. The inbound area 2 and outbound area 3 are symmetrically arranged on both sides of the storage area 1. The inbound area 2 is equipped with a limiting guide rail 4. The limiting guide rail 4 includes a waiting station 41 and multiple equidistant transfer stations 42. Each transfer station 42 has a transfer device 5 on one side for moving a material cart 8 along the limiting guide rail 4. The limiting guide rail 4 includes a front end and a rear end. The waiting station 41 is located at the rear end of the limiting guide rail 4. The outer side of the material cart 8 has a QR code recording the batch number of fasteners. An identification mechanism 6 for recognizing QR codes is provided on the outside of the waiting station 41. The material transfer device 5 and the identification mechanism 6 are electrically connected to the control device. The storage area 1 includes a base frame 11. The base frame 11 includes multiple storage units 111 arranged in a grid pattern for placing material carts 8. A truss 7 operated by the control device is provided above the base frame 11. The truss 7 includes a gripping device 71 for gripping the material carts 8 and a moving device 72 for driving the gripping device 71 to move in three axes between the waiting station 41 and the base frame 11. Material carts 8 of the same batch are stacked on the storage unit 111.

[0039] In the technical solution of this invention, the outbound area 3 can be equipped with a limiting guide rail 4 and a material transfer device 5 similar to the inbound area 2 for outbound arrangement and material transfer. Alternatively, it can directly pick up materials from the outlet or use a conveyor system. Depending on the factory conditions and requirements, different designs are possible. The phrase "the inbound area 2 and the outbound area 3 are symmetrically arranged on both sides of the storage area 1" refers to the symmetrical distribution of the inbound and outbound positions, rather than the fact that their structural design is completely symmetrical.

[0040] This embodiment further includes the following configuration: the material cart 8 includes a base 81 for loading fasteners, handles 82 for gripping by the gripping device 71 are provided on both sides of the base 81, chassis rollers 83 are provided below the base 81, and a limiting groove 112 for stacking the material cart 8 is provided above the base 81. The limiting groove 112 is adapted to the chassis rollers 83. The storage unit 111 has receiving parts 113 for supporting the base 81 on both sides. When the material cart 8 is supported above the receiving parts 113, a gap is provided between the chassis rollers 83 and the bottom of the receiving parts 113.

[0041] This embodiment further specifies that: the storage unit 111 is set with a limited stacking quantity h, and the number of material carts 8 in the same batch entering the warehouse is X. When X>h, the material carts 8 in this batch will be stacked in two or more storage units 111. When X≤h, the material carts 8 in this batch will be stacked on the same storage unit 111. Material carts 8 from different batches will not be stacked on the same storage unit 111. When the truss 7 grabs the material carts 8 into the warehouse, the utilization order of the storage units 111 is distributed in a semi-concentric circle with the waiting station 41 as the center. The utilization order of the vacant storage units 111 is sorted according to the distance between them and the waiting station 41 as the priority order.

[0042] The description of "semi-concentric circles" in the technical solution of this invention refers to the innermost circle that gradually expands outward from the material waiting station 41. In the actual production process, since the storage unit 111 and the material cart 8 are square, they may be arranged in a semi-square radial pattern. Since the truss 7 runs along the X / Y track, the actual running path is a broken line rather than a straight line. The "shortest distance" in this invention refers to the truss 7 being sorted by the shortest actual running distance among the storage units 111 in the same circle. For storage units 111 in different circles, "shortest distance" refers to the shortest straight-line distance in space. Since the truss 7 can move simultaneously rather than sequentially along the X / Y track, the duration of the truss 7's movement depends on the straight-line distance in the X or Y direction.

[0043] In this embodiment, h is 3-8, and h is preferably 4, 5, or 6.

[0044] This embodiment further includes the following configuration: the material transfer device 5 comprises a fixed frame 51 and a movable frame 52. A sliding track 511 parallel to the limiting guide rail 4 is provided between the fixed frame 51 and the movable frame 52. A first sliding seat adapted to the sliding track 511 is provided on the side of the movable frame 52 corresponding to the fixed frame 51. A first driving mechanism 53 for driving the movable frame 52 to slide back and forth along the sliding track 511 is provided on the fixed frame 51. Multiple material transfer components 54 are equidistantly arranged on the fixed frame 51 and the movable frame 52 along the direction of the sliding track 511. The spacing between the material transfer components 54 on the fixed frame 51 is... The spacing between the material transfer components 54 on the movable frame 52 is equal to and matches the spacing between the material transfer stations 42. When the first drive mechanism 53 drives the movable frame 52 to move backward, the material transfer components 54 on the movable frame 52 drive the material cart 8 to move to the next material transfer station 42. During the movement, the material transfer components 54 on the fixed frame 51 retract from between the material carts 8. When the material transfer action is completed, the material transfer components 54 on the fixed frame 51 reset to prevent the material cart 8 from retracting. When the first drive mechanism 53 drives the movable frame 52 to reset and move forward, the material transfer components 54 on the movable frame 52 retract from between the material carts 8 to prevent the material cart 8 from retracting.

[0045] This embodiment further includes the following configuration: the material transfer assembly 54 comprises a hinge plate 541, a positioning block 542, and a tension spring 543. The hinge plate 541 includes a hinged end that is hinged to the frame and a movable end that is inserted between the material transfer stations 42. The positioning block 542 is located on the side of the hinged end corresponding to the feeding end. One end of the tension spring 543 is connected to the movable end, and the other end is connected to the frame. When the first drive mechanism 53 drives the movable frame 52 to move backward, the hinge plate 541 on the movable frame 52 drives the material cart 8 to move to the next material transfer station 42. During the process, the hinge plate 541 on the fixed frame 51 is pushed open by the material cart 8, and the tension spring 543 is pulled open. When the material transfer action is completed, the tension spring 543 drives the hinge plate 541 to reset. When the first drive mechanism 53 drives the movable frame 52 to reset and move forward, the hinge plate 541 on the fixed frame 51 is in a contact state to prevent the material cart 8 from retracting. During the movement, the hinge plate 541 on the movable frame 52 is pushed open from the material cart 8 at the front end, and the tension spring 543 is pulled open. When the reset action is completed, the tension spring 543 drives the hinge plate 541 to reset.

[0046] In the technical solution of the present invention, the material transfer mechanism can also adopt push rods. The other end of the multiple push rods on each set of frames is connected to the corresponding main rod. The main rod is moved by the drive mechanism, so that one end of the push rod enters or retracts from between the material carts 8.

[0047] This embodiment further includes: the material transfer device 5 also includes a material transfer frame 55 for moving the material cart 8 between the material transfer station 42 and the waiting station 41. The material transfer frame 55 is also provided with a material transfer component 54. The side of the material transfer frame 55 corresponding to the fixed frame 51 is provided with a second sliding seat adapted to the sliding rail 511. The fixed frame 51 is provided with a second driving mechanism 56 for driving the material transfer frame 55 to slide back and forth along the sliding rail 511. The first driving mechanism 53 is provided at the front end of the fixed frame 51, and the second driving mechanism 56 is provided at the front end of the fixed frame 51. At the rear end, the waiting station 41 is provided with a limiting block 411 to ensure that the QR code of the material cart 8 is aligned with the identification mechanism 6; a first sensor 57 is provided between the waiting station 41 and the material transfer station 42 to sense whether the material cart 8 exists at the last material transfer station 42; a second sensor 58 is provided at the rear end of the waiting station 41 to sense whether the material cart 8 has moved into place; the inner side of the limiting guide rail 4 is provided with a first stroke sensing component 591 for limiting the single movement stroke of the movable frame 52 and a second stroke sensing component 592 for limiting the single movement stroke of the material transfer frame 55.

[0048] See appendix Figure 8-10An automated storage and retrieval system (AS / RS) management system includes an inbound conveying module for sensing the status of a material cart 8 within the limit guide rail 4 of the inbound area 2, moving the material cart 8 to the waiting station 41 for identification via a material transfer device 5, and controlling the identification mechanism 6 to perform identification scanning; an information receiving module for receiving QR code information scanned by the identification mechanism 6 and receiving outbound requests from the system; a warehouse management module for generating inbound or outbound orders based on the information received module and planning inbound or outbound routes for the truss 7; and a data storage module for displaying inventory information in real time and generating inbound or outbound records based on inbound or outbound instructions and storing them in the data storage module.

[0049] This embodiment further includes the following configuration: the warehouse management module generates an inbound order based on the QR code information scanned by the identification mechanism 6; the warehouse management module receives outbound requests, selects the corresponding model of parts, and generates an outbound order; based on the inbound or outbound order, the warehouse management module generates an inbound instruction or an outbound instruction for the truss 7, with the outbound instruction taking precedence over the inbound instruction; after the truss 7 completes the inbound or outbound instruction, the warehouse management module generates an inbound record or an outbound record for real-time updates and generates inventory information based on the operation, storing it in the data storage module; based on the inventory information generated from the inbound and outbound records, and according to the semi-concentric circle distribution centered on the waiting station 41, the distance between the vacant storage unit 111 and the waiting station 41 is used as a priority sorting factor, and the warehouse management module generates an inbound route plan for the truss 7; when the inbound order belongs to the same batch of the same parts, the warehouse management module prioritizes stacking placement in the inbound route plan for the truss 7; based on the inventory information and the outbound order, and according to the order of the corresponding model of parts entering the warehouse as a priority sorting factor, the warehouse management module generates an outbound route plan for the truss 7.

[0050] This embodiment further sets the following configuration: the storage unit 111 is set to limit the stacking quantity to h, and the inbound order of the same batch is X. When X≤h, the material carts 8 of the same batch will be stacked on the same storage unit 111; n is a natural number greater than 0. When X=nh+1, the control device searches the remaining empty storage units 111 and generates a new truss 7 inbound route plan according to the priority order. When nh+1<X≤(n+1)h, the control device stacks the material carts 8 according to the truss 7 inbound route plan formed when X=nh+1. Material carts 8 of different batches will not be stacked on the same storage unit 111.

[0051] In the technical solution of this invention, the warehouse management module first determines whether there is a prior batch of the same type (i.e., whether a batch of the same parts has already been put into storage before this inbound order) and whether the corresponding storage unit 111 has a vacancy. If there is a prior batch and a vacancy, the truss 7 stacks the material carts 8 according to the inbound route planning of the prior batch. If there is a prior batch but no vacancy, the warehouse management module searches for new vacant storage units 111 and generates a new truss 7 inbound route planning based on the shortest distance between them and the waiting station 41. If there is no prior batch of the same type, the warehouse management module searches for new vacant storage units 111 and generates a new truss 7 inbound route planning based on the shortest distance between them and the waiting station 41.

[0052] In this invention, the control system network topology can be divided into three levels: the first level is the monitoring layer (host monitoring computer), which can be directly connected to Ethernet; the second level is the control layer (PLC automatic control system); and the third level is the field layer (sensors and actuators that collect field signals). The monitoring layer is a software system that sends the handling tasks generated by the host computer system to the electrical control system and communicates with it in real time. Based on the field situation, it intervenes in the cargo conveying process in real time to ultimately complete the conveying task. A background WCS system data storage module server completes all the functions of the interaction layer. Its specific functions are as follows: the WCS data storage module server refreshes data periodically, sends tasks generated by the WMS system to the WCS server in real time; provides real-time communication with the control layer, enabling the control layer to complete relevant tasks promptly and accurately according to the conveying and sorting instructions; and records the cargo conveying process in real time, providing detailed records and queries of the conveying process. The control layer is an electrical control system that uses a Siemens S7-1200 series programmable controller (or equivalent) for control. It adopts a distributed I / O mode and transmits information throughout the process, interacting and coordinating with the host information system. The WCS system monitoring unit connects to the PLC via TCP / IP, enabling information exchange with the monitoring unit and with other subsystems. The lower-level PROFINET bus connects each substation, allowing the CPU to sample remote I / O information and execute actions. It performs logic control, information exchange, data processing, and signal acquisition functions. The control layer uses one or more SIEMENS PLCs (or equivalent) to handle the automation system's control tasks. The control layer automatically identifies cargo barcode information and, based on the destination address of the transport task on the WCS system, controls the equipment to automatically perform functions such as conveying, sorting, and storage, automatically recording the transport process and feeding it back to the WCS system. The field layer refers to the connection with the underlying logistics equipment, signal detection, and equipment control actuators; it includes all related equipment in the inbound / outbound distribution / transportation system, including distributed I / O, control panels, electrical control cabinets, control boxes, switches, sensors, and fieldbus connection devices.

[0053] See appendix Figure 11 An automated storage and retrieval system (AS / RS) inbound operation method includes the following steps: Step S1: Confirm that the control device is in normal working condition and that the gantry 7 and the material transfer device 5 are in standby condition; Step S2: When the limit guide rail 4 of the inbound area 2 is in the "cart present" state, the material transfer device 5 of the inbound area 2 starts working and moves the material cart 8 from the material transfer station 42 to the waiting station 41; Step S3: When the first sensor 57 senses "cart present", the material transfer frame 55 starts working and moves the material cart 8 from the last material transfer station 42 to the waiting station 41; when the second sensor 58 senses "cart present", it indicates that the material cart 8 has arrived, the material transfer frame 55 stops moving, and the identification mechanism 6 starts working; Step S4: The identification mechanism transmits the scanned QR code information to the control device via information transmission. The control device generates an inbound command, controls the truss 7 to move to the waiting station 41 to grab and move the material cart 8, and moves and stacks the material cart 8 onto the storage unit 111 according to the inbound route; Step S5: After completing step S4, if the limiting guide rail 4 of the inbound area 2 is still in the "cart present" state, repeat steps S2-S3; Step S6: When the identification structure finds that the part batch of the material cart 8 is the same as the part batch of the previous material cart 8 by scanning the QR code information, the control device controls the truss 7 to grab the material cart 8 and stack it on the previous storage unit 111. When the batches are different, the control device controls the truss 7 to grab the material cart 8 and place it on the empty storage unit 111; Step S7: If the limiting guide rail 4 of the inbound area 2 is still in the "no cart present" state, the material transfer device 5 stops working.

[0054] In the technical solution of this invention, the operation of the truss 7 and the material transfer device 5 (in this embodiment, for ease of understanding, the first drive mechanism 53 is a long hydraulic cylinder and the second drive mechanism 56 is a short hydraulic cylinder) is described as follows: I. Automatic Start-up: Automatic operation can only be started after ensuring that there are no mechanical abnormalities in the equipment. The process is as follows: Power on the equipment - No alarm is displayed after the touch screen starts up - Click the "Home" button on the touch screen to enter the main screen - Check that the "Current Steps of Truss 7" displayed on the touch screen should be 0, and the "Current Steps of Entrance" and "Current Steps of Exit" should be 0 or 1 - Click the "PC Control" and "Start" buttons on the touch screen, and set the "Manual / Automatic" knob to the "Automatic" state. Automatic start-up is complete. At this time, Truss 7 will receive instructions from the host computer to execute the corresponding inbound or outbound actions. The placement position of the inbound material cart 8 and the picking position of the outbound material cart 8 are both sent by the host computer, so it is essential to ensure that the host computer is powered on and connected to the network normally.

[0055] II. Warehousing: Truss 7 automatically starts – Material cart 8 is pushed into the entrance – the "No Cart / Cart Present" knob at the entrance is set to the "Cart Present" position. At this time, the hydraulic station pump automatically starts, the long cylinder extends, and immediately retracts after reaching its full extension position. This action is repeated until the cart is pushed to the first sensor 57. The first sensor 57 detects the presence of a cart. Simultaneously, the short cylinder retracts. The long cylinder should stop when fully retracted, and the short cylinder should immediately extend again, pushing the material cart 8 detected by the first sensor 57 forward to the scanning position. After the short cylinder extends to its full extension position, the first sensor 57 should no longer detect the material cart 8, and the second sensor 58 can then... When material cart 8 is detected, the touchscreen "Entrance Cart in Position" indicator is illuminated and the barcode scanner (identification mechanism 6) is activated to start scanning. After successful scanning, the host computer sends an entrance material retrieval signal to the truss 7 and automatically assigns a placement position. The truss 7 begins to execute its action, moving towards the entrance. When the truss 7 takes away the scanned material cart 8 and rises, the touchscreen "Entrance Cart in Position" indicator turns off, and the long hydraulic cylinder starts to move, repeating the above process. When all material carts 8 have been put into storage or if you want to stop the storage process midway, turn the "No Cart / Cart in Position" knob to the "No Cart" position. After the truss 7 takes away the material cart 8 detected by the waiting station 41, the hydraulic cylinder will stop moving. There are no carts at the scanning position, and the storage command will no longer be executed.

[0056] III. Outbound Process: When the host computer issues an outbound command, it will automatically send an outbound command and material retrieval position to truss 7. Truss 7 will retrieve the material from the corresponding position according to the received position information. After retrieval, truss 7 will move to the outlet placement position to determine whether it can be lowered to place the cart. Truss 7 will lower to place the cart when the following conditions are met simultaneously: 1. The placement position sensor does not detect the cart 8; 2. The outlet hydraulic cylinder retracts to its position sensor is illuminated; 3. The "Single Step / Clear" knob is in "Single Step" mode. When all three conditions are met simultaneously, the Z-axis will lower to place the cart in position. After placement, the Z-axis will rise to its highest position, and the outlet hydraulic cylinder will begin to extend to push the cart. When the hydraulic cylinder extends to its position, the extension position sensor will illuminate, and the hydraulic cylinder will immediately begin to retract. After the hydraulic cylinder returns to its position, the retraction position sensor will illuminate, and the hydraulic cylinder will... Stop the operation and wait for the next material cart 8 to arrive before resuming the pushing action. After the cart is discharged, some material carts 8 cannot be pushed beyond the safety fence. At this time, the "Single Step / Clear" knob can be set to the "Clear" position. The outlet cylinder will then continuously perform the action of "Extend - Extend to Position - Retract - Retract to Position - Extend" until the "Exit Cart Pushed to Position" laser sensor at the outlet end detects the material cart 8. After the cylinder retracts, it will no longer extend. When the worker pulls the material cart 8 away, the "Exit Cart Pushed to Position" sensor will no longer detect the material cart 8, and the pushing will continue. After the last cart is pushed out, the "Single Step / Clear" knob must be set to the "Single Step" mode. Otherwise, the outlet cylinder will continue to operate, which will also affect the placement conditions of the truss 7 when the cart is discharged again.

[0057] IV. Description of the truss 7 actions corresponding to the displayed value of "Current Steps of Truss 7": 0. Wait for instructions from the host computer; 1. After receiving instructions from the host computer, the Z-axis rises to the highest position, and the X and Y axes move to the corresponding positions (if it is entering the warehouse, it moves to the entrance; if it is leaving the warehouse, it moves to the received column or row position); 2. After reaching the position, determine whether it can descend to pick up materials; 3. The Z-axis descends; 4. The gripper opens to hook the material cart 8 and detects the gripper opening position signal. If the condition is met, proceed to the next step; 5. The Z-axis rises to the highest position; 6. The X and Y axes move to the corresponding positions (if it is entering the warehouse, it moves to the received column or row position; if it is leaving the warehouse, it moves to the exit); 7. After reaching the position, determine whether it can descend; 8. The Z-axis descends; 9. The gripper retracts and detects the gripper retraction position signal. If the condition is met, proceed to the next step; 10. The Z-axis rises to the highest position; 11. Clear the data that has been executed and send an execution completion signal to the host computer. After sending, the descent step count becomes 0, and it begins to wait for new instructions.

[0058] 5. "Manual Function": Turn off the "PC Control" and "Start" buttons on the homepage, and set the "Manual / Automatic" knob to the "Manual" position to manually control the equipment. There are two ways to control it manually: one is to use the buttons on the "Manual Screen" of the touch screen to control it, and press the corresponding button to execute the corresponding action; the other is to use the remote control to control it. The "Up, Down, East, West, South, North" buttons on the remote control correspond to the running direction of truss 7. The remote control button "1" opens the gripper, "2" retracts the gripper, and the "3" and "4" buttons are not used.

[0059] In the description of this invention, it should be noted that the terms "middle", "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0060] Although this document frequently uses terms such as: storage area 1, base frame 11, storage unit 111, limiting groove 112, receiving part 113, inbound area 2, outbound area 3, limiting guide rail 4, waiting station 41, limiting block 411, material transfer station 42, material transfer device 5, fixed frame 51, sliding rail 511, movable frame 52, first drive mechanism 53, material transfer assembly 54, hinge plate 541, positioning block 542, tension spring 543, material transfer frame 55, second drive mechanism 56, first sensor 57, second sensor 58, first stroke sensing assembly 591, second stroke sensing assembly 592, identification mechanism 6, truss 7, gripping device 71, moving device 72, material cart 8, base 81, handle 82, chassis roller 83, etc., the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention.

Claims

1. An automated storage and retrieval system, characterized in that: The system includes a control device, a storage area, an inbound area, and an outbound area. The inbound and outbound areas are symmetrically arranged on both sides of the storage area. The inbound area is equipped with a limit guide rail, which includes a waiting station and multiple equally spaced transfer stations. A transfer device is provided on one side of each transfer station to move a material cart along the limit guide rail. The limit guide rail has a front end and a rear end. The waiting station is located at the rear end of the limit guide rail. A QR code recording the fastener batch is provided on the outer side of each material cart. A recognition mechanism for identifying the QR code is provided on the outer side of the waiting station. The transfer device and the recognition mechanism are electrically connected to the control device. The storage area includes a base frame, which includes multiple grid-like storage units for placing material carts. A truss operated by the control device is located above the base frame. The truss includes a gripping device for grabbing material carts and a moving device for moving the gripping device between the waiting station and the base frame in a three-axis manner. Material carts of the same batch are stacked in the storage area. The storage unit includes a base for loading fasteners, handles for gripping devices on both sides of the base, chassis rollers below the base, and a limiting groove for stacking the carts above the base. The limiting groove is adapted to the chassis rollers. The storage unit has receiving parts on both sides for supporting the base. When the cart is placed above the receiving parts, a gap is provided between the chassis rollers and the bottom of the receiving parts. The storage unit has a limited stacking quantity h, and the number of carts in the same batch entering the warehouse is X. When X > h, the carts in that batch will be stacked in two or more storage units. When X ≤ h, the carts in that batch will be stacked on the same storage unit. Carts from different batches will not be stacked on the same storage unit. When the truss grabs carts into the warehouse, the storage units are used in a semi-concentric circle arrangement with the waiting station as the center. The vacant storage units are used in a priority order based on their distance from the waiting station.

2. The automated storage and retrieval system according to claim 1, characterized in that: The material transfer device includes a fixed frame and a movable frame. A sliding rail parallel to the limiting guide rail is provided between the fixed frame and the movable frame. A first sliding seat adapted to the sliding rail is provided on the side of the movable frame corresponding to the fixed frame. A first driving mechanism for driving the movable frame to slide back and forth along the sliding rail is provided on the fixed frame. Multiple material transfer components are equidistantly arranged on the fixed frame and the movable frame along the sliding rail direction. The spacing between the material transfer components on the fixed frame is equal to the spacing between the material transfer components on the movable frame and is adapted to the spacing between the material transfer stations. When the first driving mechanism drives the movable frame to move backward, the material transfer components on the movable frame drive the material cart to the next material transfer station. During the movement, the material transfer components on the fixed frame retract from between the material carts. When the material transfer action is completed, the material transfer components on the fixed frame reset to prevent the material cart from retracting. When the first driving mechanism drives the movable frame to reset and move forward, the material transfer components on the movable frame retract from between the material carts to prevent the material cart from retracting.

3. An automated storage and retrieval system according to claim 2, characterized in that: The material transfer assembly includes a hinge plate, a positioning block, and a tension spring. The hinge plate includes a hinged end that is hinged to the frame and a movable end that is inserted between the material transfer stations. The positioning block is located on the side of the hinged end corresponding to the feeding end. One end of the tension spring is connected to the movable end, and the other end is connected to the frame. When the first drive mechanism drives the movable frame to move backward, the hinge plate on the movable frame drives the material cart to move to the next material transfer station. During the movement, the hinge plate on the fixed frame is pushed open by the material cart, and the tension spring is pulled open. When the material transfer action is completed, the tension spring drives the hinge plate to reset. When the first drive mechanism drives the movable frame to reset and move forward, the hinge plate on the fixed frame is in an abutting state to prevent the material cart from retracting. During the movement, the hinge plate on the movable frame is pushed open from the material cart at the front end, and the tension spring is pulled open. When the reset action is completed, the tension spring drives the hinge plate to reset.

4. An automated storage and retrieval system according to claim 2, characterized in that: The material transfer device also includes a material transfer frame for moving the material cart between the material transfer station and the waiting station. The material transfer frame is also equipped with a material transfer component. A second sliding seat adapted to the sliding rail is provided on the side of the material transfer frame corresponding to the fixed frame. A second driving mechanism for driving the material transfer frame to slide back and forth along the sliding rail is provided on the fixed frame. The first driving mechanism is located at the front end of the fixed frame, and the second driving mechanism is located at the rear end of the fixed frame. A limiting block is provided at the rear end of the waiting station to ensure that the QR code of the material cart is aligned with the identification mechanism. A first sensor for sensing whether a material cart exists at the last material transfer station is provided between the waiting station and the material transfer station. A second sensor for sensing whether the material cart has moved into place is provided at the rear end of the waiting station. A first stroke sensing component for limiting the single movement stroke of the movable frame and a second stroke sensing component for limiting the single movement stroke of the material transfer frame are provided on the inner side of the limiting guide rail.

5. A management system for an automated storage and retrieval system, based on an automated storage and retrieval system according to any one of claims 1-4, characterized in that: It includes an inbound conveying module, which is used to sense the status of the material cart in the limit guide rail of the inbound area, move the material cart into the waiting station for identification through the material transfer device, and control the identification mechanism to perform identification and scanning; and an information receiving module, which is used to receive the QR code information scanned by the identification mechanism and receive the outbound request sent by the system. The warehouse management module generates inbound or outbound orders based on information from the information receiving module, and plans inbound or outbound routes for the trusses. The data storage module is used to display inventory information in real time and generate inbound or outbound records based on inbound or outbound instructions, which are then stored in the data storage module.

6. The management system for an automated three-dimensional warehouse according to claim 5, characterized in that: The warehouse management module generates an inbound order based on the QR code information scanned by the identification mechanism; the warehouse management module receives outbound requests, selects the corresponding model of parts, and generates an outbound order; based on the inbound or outbound order, the warehouse management module generates inbound or outbound instructions for the truss, with outbound instructions taking precedence over inbound instructions; after the truss completes the inbound or outbound instruction, the warehouse management module generates inbound or outbound records, updates them in real time, and generates inventory information based on the operation, storing it in the data storage module; based on the inventory information generated from the inbound and outbound records, and prioritizing the distance between vacant storage units and waiting workstations in a semi-concentric circle distribution centered on the waiting workstations, the warehouse management module generates a truss inbound route plan; when inbound orders belong to the same batch of the same parts, the warehouse management module prioritizes stacking in the truss inbound route plan; based on the inventory information and outbound orders, and prioritizing the order of inbound batches of the corresponding model of parts, the warehouse management module generates a truss outbound route plan.

7. The management system for an automated three-dimensional warehouse according to claim 6, characterized in that: The storage unit is set to limit the stacking quantity to h. The inbound order of the same batch is X. When X≤h, the material carts of the same batch will be stacked on the same storage unit. n is a natural number greater than 0. When X=nh+1, the control device searches the remaining empty storage units and generates a new truss inbound route plan according to the priority order. When nh+1<X≤(n+1)h, the control device stacks the material carts according to the truss inbound route plan formed when X=nh+1. Material carts of different batches will not be stacked on the same storage unit.

8. An automated storage and retrieval system (AS / RS) inbound operation method, based on an AS / RS as described in any one of claims 1-4, characterized in that: The process includes steps S1 and S2. Confirming that the control device is in normal working condition and the truss and material transfer device are in standby mode. Step S2. When the limit rail in the inbound area is in the "cart present" state, the material transfer device in the inbound area starts working, moving the material cart from the transfer station to the waiting station. Step S3. When the first sensor detects "cart present," the material transfer frame starts working, moving the material cart from the last transfer station to the waiting station. When the second sensor detects "cart present," it indicates the material cart has arrived, the material transfer frame stops moving, and the identification mechanism starts working. Step S4. The identification structure transmits the scanned QR code information to the control device, and the control device generates an inbound command. Step S5: After completing step S4, if the limiting guide rail in the storage area is still in the "cart in" state, repeat steps S2-S3; Step S6: When the identification structure finds that the part batch of the material cart is the same as the part batch of the previous material cart by scanning the QR code information, the control device controls the truss to grab the material cart and stack it on the previous storage unit. When the batches are different, the control device controls the truss to grab the material cart and place it on an empty storage unit; Step S7: When the limiting guide rail in the storage area is still in the "no cart" state, the material transfer device stops working.

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