CN117429795A - Intelligent material storage system capable of automatically feeding and discharging and operation method thereof - Google Patents

Abstract

The invention discloses an intelligent material storage system capable of automatically feeding and discharging and an operation method thereof, which comprise storage shelves, a cargo tray, an automatic loading and unloading device and a self-propelled lifting loading and unloading device, wherein the storage shelves, the cargo tray, the automatic loading and unloading device and the self-propelled lifting loading and unloading device are arranged in a warehouse and are in signal connection with a main control device, the storage shelves are fixedly arranged on the ground of the warehouse, a cargo storing and taking channel is arranged between adjacent storage shelves, the cargo tray is arranged on the storage shelves, the automatic loading and unloading device is arranged on the upper part or the top of the warehouse, and the self-propelled lifting loading and unloading device is arranged on the ground of the warehouse and can move in the cargo storing and taking channel of the warehouse. According to the invention, by improving the existing warehouse, fertilizers with different weights and sizes can be accurately managed, information errors are eliminated, quick and accurate positioning can be performed, positioning errors are reduced, quick and accurate storage and retrieval of fertilizers are facilitated, the goods extraction and storage efficiency is further improved, accurate management of residual goods on a goods shelf is facilitated, and the difficulty of fertilizer storage regulation is reduced.

Description

Intelligent material storage system capable of automatically feeding and discharging and operation method thereof

Technical Field

The invention belongs to the technical field of automatic storage logistics of fertilizers, and particularly relates to an intelligent material storage system capable of automatically feeding and discharging materials and an operation method thereof.

Background

With the increasing development of logistics industry, the operation, storage and other factors are considered, and in order to reduce the labor cost in the process of fertilizer storage and logistics, a carrying trolley is generally adopted to replace manual carrying, so that the goods are transferred, and the efficient operation effect is achieved. The fertilizer in-out warehouse-in stacking management mode in the prior art mainly comprises the steps that a worker stacks the fertilizer on a conveying belt, after conveying the fertilizer to a warehouse position, the worker stacks the fertilizer on a pallet manually, and a forklift is used for transferring and placing the pallet and the fertilizer on the pallet on a goods shelf. The disadvantage of this mode is that the passageway between each goods shelves needs to reserve great turning space for fork truck, and its occupation space is great, and fork truck lifts highly to have the restriction moreover, is not applicable to high-altitude goods shelves and uses, and the fork truck easily takes place the incident of forward tilting and turning over once surpassing the high restriction.

On the other hand, in actual fertilizer storage management, in order to meet different supply demands, fertilizer specifications on all trays are not consistent, and the fertilizer storage management has specifications with different weights, namely the number of fertilizer placing bags on some trays is large, and the number of fertilizer placing bags is small, so that the number of fertilizer on the goods trays cannot be monitored in real time in the storage process, and the difficulty of replenishing goods is increased; the device is limited by the interference of factors such as light in a warehouse, when the fertilizer is extracted and stored, the condition of inaccurate positioning easily occurs, the forklift cannot be guided to move to the position of a goods shelf where the fertilizer is needed to be forked or stored, the fertilizer is inconvenient to extract and store rapidly and accurately, the use of a user is inconvenient, and the improvement of the storage management efficiency of the fertilizer is also inconvenient.

Disclosure of Invention

In order to solve the above problems, a first object of the present invention is to provide an intelligent material warehouse system capable of automatically feeding and discharging materials; the second objective is to provide an operation method of an intelligent material warehouse system capable of automatically feeding and discharging materials.

The first object of the invention is achieved by the following technical scheme: the automatic loading and unloading device is arranged on the upper part or the top of the warehouse, and the self-propelled lifting loading and unloading device is arranged on the ground of the warehouse and can move in the goods storing and taking channel of the warehouse at will; the automatic loading and unloading device comprises a self-propelled mechanism, a rotating platform, a lifting mechanism and an automatic loading and unloading mechanism, wherein the self-propelled mechanism is arranged on the upper portion or the top of a warehouse, the rotating platform is arranged on the lower portion of the self-propelled mechanism, the lifting mechanism is arranged on the lower portion of the rotating platform, the automatic loading and unloading mechanism is arranged on the bottom of the lifting mechanism, the automatic loading and unloading mechanism comprises a fork lifting frame, a fork lifting driving piece, a fork lifting guide rail, a driving rod and a clamp, the fork lifting frame is of a cuboid frame structure, the driving rod parallel to the axis line of the fork lifting frame is arranged on the lower portion of the fork lifting frame, the fork lifting driving piece is arranged on the lower portion of the fork lifting frame at any end of the driving rod, the fork lifting driving piece is connected with the driving rod, two fork guide rails are arranged on the two fork guide rails by using the driving rod as symmetrical lines, the clamp is provided with a connecting rod, weights are respectively arranged in the fork lifting frames at two sides of the driving rod, the four corners of the fork lifting frame are respectively provided with extension brackets which extend outwards, and the extension brackets are respectively connected with the lifting mechanism.

Further, the lifting mechanism comprises double-hook loop chain electric hoists and a mounting frame, wherein the mounting frame is of a square frame structure matched with the fork lifting frame, the mounting frame is fixedly connected with the bottom of the rotary platform, at least two double-hook loop chain electric hoists are arranged on the square frame structure, and two hanging chains of each double-hook loop chain electric hoists are respectively connected with an extension bracket on the same side of the fork lifting frame; the fixture is of a U-shaped structure, at least two supporting rollers are arranged at the bottoms of all clamping arms of the fixture, an auxiliary frame fixedly connected with the fixture is arranged at the rear end of the fixture, the auxiliary frame is of a U-shaped or square-shaped structure, a sliding connection fork material guide rail is arranged at the bottom of the auxiliary frame, and a proximity sensor is arranged at the rear end of the top of each fork material guide rail.

Further, the goods pallet comprises a pallet body, a plurality of supports are arranged on the connecting surface of the pallet body, main supports in a square structure are respectively arranged at four corners of the connecting surface of the pallet body, the supports are arranged between the adjacent main supports, auxiliary supporting plates consistent with the shape of the pallet body are fixedly arranged at the lower ends of the main supports, bearing plates are respectively arranged on the working surfaces of the pallet body and the auxiliary supporting plates, a plurality of goods taking grooves are arranged on the bearing plates, the goods taking grooves are arranged in a groined shape, and the outer side edges of the main supports are connected with the outer side edges of the pallet body and the auxiliary supporting plates to form guide grooves in a U-shaped structure; the tray body and the bearing plate are arranged in a gap of 1-3 mm, a mounting counter bore is formed in the center of the tray body, a weight sensor is arranged in the mounting counter bore, the working end of the weight sensor is in upward contact with the bearing plate, a buffer spring is arranged at the lower end of the weight sensor, the outer ends of all the supports of the tray body are embedded with proximity sensors parallel to the central axis of the supports, a tray controller is arranged in any grid of the connecting surface, and the tray controller is connected with the weight sensor and each proximity sensor.

Further, the self-propelled lifting loading and unloading device comprises a self-propelled travelling crane, a direction adjusting mechanism and a loading and unloading mechanism, wherein the direction adjusting mechanism is arranged on the upper portion of the self-propelled travelling crane, the loading and unloading mechanism is arranged on the direction adjusting mechanism, the direction adjusting mechanism comprises a rotary platform, a lower direction adjusting guide rail, a lower direction adjusting driving piece, a lifting vertical frame, a horizontal moving transverse frame, a lifting driving piece and a sliding seat, the rotary platform is arranged on the upper portion of the self-propelled travelling crane, two lower direction adjusting guide rails are symmetrically arranged on the rotary platform, the lower direction adjusting driving piece is arranged at any end of the lower direction adjusting guide rail and is positioned between the two lower direction adjusting guide rails, the lifting vertical frame is arranged on the two lower direction adjusting guide rails through the sliding seat, the lower portion or the bottom of the lifting vertical frame is connected with the lower direction adjusting driving piece through the sliding block, the horizontal moving transverse frame is arranged on the lifting vertical frame through the sliding block, the lifting driving piece is arranged on the top of the lifting vertical frame, and the driving rod is downwards transmitted and is connected with the rear portion of the horizontal moving transverse frame, and the loading and unloading mechanism is arranged on the horizontal moving transverse frame.

The second object of the present invention is achieved by:

A. establishing a database, inputting numbers of an automatic loading and unloading device, a storage shelf, each positioning mechanism on the storage shelf, a proximity sensor, a cargo tray, a tray controller on the cargo tray, the proximity sensor and a self-propelled lifting loading and unloading device into a main control device one by one, establishing the database, and inputting the weight of each single-bag fertilizer into the database;

B. When the goods trays for stacking fertilizers are in warehouse, the main control device firstly screens the goods positions on the warehouse goods shelves, finds the empty goods positions, plans a path, then, fork-lifts the goods trays to the empty goods positions by the automatic loading and unloading device or the self-propelled lifting loading and unloading device, and places the goods trays on the empty goods positions;

C. the warehouse-out supervision, according to the warehouse-out fertilizer quantity specification request, the general control device firstly screens and calculates the goods positions on the warehouse goods shelves, selects the goods positions meeting the warehouse-out requirement, controls the automatic loading and unloading device or the self-propelled lifting loading and unloading device to extract the goods trays on the selected goods positions one by one, then conveys the goods trays out of the warehouse goods shelves, and supplies the goods trays to the transportation equipment;

D. and (3) a replenishment supervision step, wherein after warehousing and/or ex-warehouse, the total control device firstly screens and calculates the goods positions on the warehouse goods shelves, records and updates the empty conditions of the goods positions on the warehouse goods shelves and the placing quantity of fertilizers on the goods positions, and when the number of the empty goods positions is greater than 20% of the total goods positions, the total control device sends out replenishment warning to remind management personnel of timely replenishment.

The beneficial effects of the invention are as follows:

1. the invention can accurately manage various specifications of fertilizers with different weights and provides the positions of the fertilizers with different specifications by improving the existing warehouse; the whole process is not interfered by factors such as light, information errors are eliminated, quick and accurate positioning can be performed, positioning errors are reduced, quick and accurate fertilizer storage and fetching are facilitated, the goods extraction and storage efficiency is further improved, accurate management of the residual goods on a goods shelf is facilitated, and the difficulty of fertilizer storage regulation is reduced;

2. The fertilizer is placed more conveniently and rapidly, and the goods trays are clamped and hung on the support rods of the storage shelves by adopting a drawer type structure, so that the storage requirements of various modes are met; the automatic fertilizer feeding and discharging device has the advantages that the quantity and the positions of fertilizers on the goods trays can be monitored in real time in the storage process, the positioning and detecting precision is high, the influence of illumination is avoided when the fertilizers are extracted, the accurate positioning of the goods trays is provided, the registration error between the automatic loading and discharging device and the fork grooves of the goods trays is greatly reduced, the automatic loading and discharging device can be rapidly guided to move to the positions of the goods trays to be forked, the goods trays can be accurately inserted into the fork grooves to be forked, the goods trays can be dynamically, accurately and rapidly managed, and the storage management efficiency is improved;

3. the automatic loading and unloading device is arranged at the top of the warehouse, the whole operation process is low in environmental interference, the operation is stable and reliable, the defect of storing and taking fertilizer by a forklift is overcome, the height limitation of a goods shelf is avoided, the goods storing and taking requirement from low level to high level is met, the positioning is faster and more accurate, the direction of storing and taking fertilizer can be adjusted at will, and the flexibility is higher; the automatic storage and replenishment and the goods taking on the goods shelf can be realized, the operation difficulty of manually loading and unloading goods is avoided, the efficiency of storing and replenishment and goods taking is improved, the use requirement of workers is met, the operation and the use of the workers are facilitated, and the storage management efficiency is improved;

4. The high-altitude storage and taking are met, the ground storage and taking can be performed, and the single-bag or small-batch carrying, loading and unloading requirements are met through the cooperation of the ground and the air operation, and meanwhile, the large-batch carrying requirements, namely the carrying requirements of a plurality of bags of fertilizers stacked into a certain number when the goods are carried on the pallet, can be met; the fertilizer is limited by the environment, the direction and the height can be adjusted in real time before and during carrying according to the position and the height of the fertilizer, and the storage and extraction requirements of different heights and positions are met; and unmanned automatic carrying can be realized through self-propelled travelling crane, manual carrying is greatly reduced, automatic carrying, loading and unloading are integrated, and the automatic management efficiency of fertilizer storage is improved.

Drawings

FIG. 1 is a functional block diagram of the present invention;

FIG. 2 is a schematic diagram of the structure of the present invention;

FIG. 3 is a schematic view of the structure of the automatic loading and unloading device;

FIG. 4 is a schematic left-hand structural view of the automatic loading and unloading device;

FIG. 5 is a schematic top view of the elevating mechanism in the automatic loading and unloading device;

FIG. 6 is a schematic structural view of a fork lift device in the automatic loading and unloading device;

FIG. 7 is a schematic diagram of a left-hand construction of a fork lift in an automatic loading and unloading device;

FIG. 8 is a schematic top view of a fork lift arrangement in an automatic loading and unloading apparatus;

FIG. 9 is a schematic view of the structure of a storage rack;

FIG. 10 is a schematic left-hand structural view of a storage rack;

FIG. 11 is a schematic view of the structure of a single column in a storage rack;

FIG. 12 is a schematic view of the structure of the load bearing seat in the storage rack;

FIG. 13 is a schematic view of the left-hand construction of the load-bearing seat in the storage rack;

FIG. 14 is a schematic view of the positioning mechanism in the storage rack;

FIG. 15 is a schematic view of the structure of the base mechanism in the storage rack;

FIG. 16 is a schematic view of the structure of a cargo pallet;

FIG. 17 is a schematic view of the structure of the pallet body and the sub-bracket in the cargo pallet;

FIG. 18 is a schematic view of the structure of the pallet body and the weight sensor in the cargo pallet;

FIG. 19 is a schematic view of the structure of the loading plate and the picking groove in the cargo pallet;

FIG. 20 is a schematic diagram of the structure of the controller in the cargo pallet;

FIG. 21 is a schematic view of a self-propelled lifting loading and unloading device;

FIG. 22 is a schematic left-hand view of the self-propelled lift loading and unloading device;

FIG. 23 is a schematic top view of a rotating platform and a lower steering rail in the self-propelled lifting loading and unloading device;

FIG. 24 is a schematic view of the loading and unloading mechanism of the self-propelled elevating loading and unloading device;

FIG. 25 is a schematic diagram showing a left-hand construction of a loading and unloading mechanism of the self-propelled elevating loading and unloading device;

reference numerals in the drawings:

1-automatic loading and unloading device, 1 a-main travelling guide rail, 1 b-main travelling trolley, 1 c-auxiliary travelling guide rail, 1 d-auxiliary travelling trolley, 1 e-lifting mechanism, 1 f-double-hook loop chain electric hoist, 1 g-mounting frame, 1 h-fork lifting device, 1 i-fork lifting frame, 1 j-fork lifting driving piece, 1 k-fork guide rail, 1 m-connecting rod, 1 n-clamp, 1 o-supporting roller, 1 p-auxiliary frame, 1 q-extending bracket and 1 r-automatic loading and unloading controller;

2-storage shelves, 2 a-base mechanism, 2 b-base, 2 c-fixed connecting rod, 2 d-upright post, 2 e-cross rod, 2 f-diagonal draw bar, 2 g-bearing seat, 2 h-fixed sleeve, 2 i-connecting lug plate, 2 j-bearing rail, 2 k-positioning mechanism, 2 m-pressure sensor, 2 n-sensing pressing plate and 2 o-shelf controller;

3-cargo trays, 3 a-tray bodies, 3 b-main brackets, 3 c-supports, 3 d-auxiliary supporting plates, 3 e-bearing plates, 3 f-object taking grooves, 3 g-guide grooves, 3 h-auxiliary brackets, 3 i-bearing columns, 3 j-reinforcing ribs, 3 k-tray controllers, 3 m-protective shells, 3 n-storage batteries, 3 o-singlechips, 3 p-wireless communication modules, 3 q-GPS positioning modules, 3 r-mounting counter bores, 3 s-weight sensors, 3 t-buffer springs and 3 u-L-shaped clamping grooves;

4-self-propelled lifting loading and unloading device, 4 a-self-propelled travelling crane, 4 b-downward direction-adjusting guide rail, 4 c-downward direction-adjusting driving piece, 4 d-lifting vertical frame, 4 e-horizontal moving transverse frame, 4 f-lifting driving piece, 4 g-sliding seat, 4 h-lifting guide rail, 4 i-loading and unloading mechanism 4i,4 j-feeding support rail 4j,4 k-feeding driving piece, 4 m-adjusting support rail, 4 n-clamping arm, 4 o-adjusting driving piece and 4 p-self-propelled loading and unloading controller;

5-sliding blocks, 6-driving rods, 7-rotating platforms, 8-approaching sensors, 9-counterweights and 10-total control devices.

Detailed Description

In order to enable those skilled in the art to better understand the technical scheme of the present invention, the following detailed description is provided with reference to the accompanying drawings.

The intelligent material warehouse system with automatic feeding and discharging functions as shown in fig. 1-25, which comprises a warehouse shelf 2, a cargo pallet 3, an automatic loading and unloading device 1 and a self-propelled lifting loading and unloading device 4, wherein the warehouse shelf 2, the cargo pallet 3, the automatic loading and unloading device 1 and the self-propelled lifting loading and unloading device 4 are arranged in a warehouse, the warehouse shelf 2 is fixedly arranged on the ground of the warehouse, a cargo storing and taking channel is arranged between adjacent warehouse shelves 2, the cargo pallet 3 is arranged on the warehouse shelf 2, the automatic loading and unloading device 1 is arranged on the upper part or the top of the warehouse, and the self-propelled lifting loading and unloading device 4 is arranged on the ground of the warehouse and can move in the cargo storing and taking channel of the warehouse at will; the automatic loading and unloading device 1 comprises a self-propelled mechanism, a rotating platform 7, a lifting mechanism 1e and an automatic loading and unloading mechanism 4i, wherein the self-propelled mechanism is arranged on the upper portion or the top of a warehouse, the rotating platform 7 is arranged on the lower portion of the self-propelled mechanism, the lifting mechanism 1e is arranged on the lower portion of the rotating platform 7, the automatic loading and unloading mechanism 4i is arranged on the bottom of the lifting mechanism 1e, the automatic loading and unloading mechanism 4i comprises a fork lifting rack 1i, a fork lifting driving piece 1j, a fork lifting guide rail 1k, a driving rod 6 and a clamp 1n, the fork lifting rack 1i is provided with a cuboid frame structure, the driving rod 6 parallel to the axis line of the fork lifting rack 1i is arranged on the lower portion of the fork lifting rack 1i, the fork lifting driving piece 1j is arranged on the lower portion of any end of the driving rod 6, the fork lifting driving piece 1j is connected with the driving rod 6, the top of the fork lifting rack 1i is provided with two fork lifting guide rails 1k by taking the driving rod 6 as a symmetry line, the clamp 1n is arranged on the two fork lifting guide rails 1k through a sliding block 5, the clamp 1n is provided with a connecting rod 6, the two fork lifting frames 1q extend out of the rack 1e respectively, and the four sides of the fork lifting rack 1q extend out of the rack 1 respectively are respectively arranged on the four sides of the rack 1 respectively.

The fork lifting driving piece 1j is a motor, the driving rod 6 is a screw rod, a screw rod nut on the screw rod is connected with the connecting rod 1m, and the screw rod is driven to rotate through the motor.

The self-propelled mechanism comprises a main travelling trolley 1b, auxiliary travelling trolleys 1d, main travelling guide rails 1a and auxiliary travelling guide rails 1c, wherein the main travelling guide rails 1a are respectively arranged on two sides of the upper part of the warehouse along the axial direction of the warehouse, at least two main travelling trolleys 1b are arranged on each main travelling guide rail 1a, the main travelling trolleys 1b are connected with the main travelling trolleys 1b on the other main travelling guide rail 1a through the auxiliary travelling guide rails 1c, the auxiliary travelling trolleys 1d are arranged on the auxiliary travelling guide rails 1c, the tops of the rotary platforms 7 are fixedly connected with the lower parts of the auxiliary travelling trolleys 1d, the bottoms of the rotary platforms 7 are connected with the lifting mechanisms 1e, and the rotary platforms 7 drive the lifting mechanisms 1e to perform circumferential rotation.

The lifting mechanism 1e comprises double-hook loop chain electric hoists 1f and mounting frames 1g, wherein the mounting frames 1g are arranged to be square frame structures matched with the fork lifting frames 1i, the bottoms of the rotary platforms 7 are fixedly connected with the mounting frames, at least two double-hook loop chain electric hoists 1f are arranged on the square frame structures, and two hanging chains of each double-hook loop chain electric hoists 1f are respectively connected with an extension bracket 1q on the same side of the fork lifting frames 1 i.

The fixture 1n is of a U-shaped structure, at least two supporting rollers 1o are arranged at the bottom of each clamping arm of the fixture 1n, an auxiliary frame 1p fixedly connected with the fixture 1n is arranged at the rear end of the fixture 1n, the auxiliary frame 1p is of a U-shaped or square-shaped structure, a sliding block 5 is arranged at the bottom of the auxiliary frame 1p and connected with a fork guide rail 1k, and an approach sensor 8 is arranged at the rear end of the top of each fork guide rail 1 k.

The main travelling trolley 1b, the auxiliary travelling trolley 1d, the rotary platform 71e, the double-hook loop chain electric hoist 1f, the fork lifting driving piece 1j and the proximity sensor 8 are connected with the automatic loading and unloading controller 1r through signals, the automatic loading and unloading controller 1r controls the operation of the equipment and the components, and is connected with the main control device 10 to realize information and control interaction, and the automatic loading and unloading controller 1r is a PLC (programmable logic controller) or an industrial personal computer.

The storage shelf 2 comprises a base mechanism 2a, upright posts 2d, cross rods 2e and diagonal rods 2f, wherein a plurality of base mechanisms 2a are arranged in parallel, the base mechanism 2a is connected and combined by a plurality of bases 2b to form a 'day' or 'field' shaped structure, the upright posts 2d are fixedly arranged on each base 2b, the upright posts 2d are equidistantly arranged from bottom to top and are connected or welded with each bearing seat 2g through bolts, bearing rails 2j are arranged between the bearing seats 2g on the same horizontal line, positioning mechanisms 2k are arranged on the bearing rails 2j between the adjacent bearing seats 2g, each positioning mechanism 2k is connected with a control device, the control device is arranged on the base mechanism 2a, the bottom of each bearing rail 2j is provided with a cross rod 2e perpendicular to the bearing rails 2e, two ends of each cross rod 2e are respectively connected with the bearing seats 2g or the upright posts 2d, and the diagonal rods 2f are consistent with the arrangement direction of the bearing rails 2 j.

The positioning mechanism 2k comprises a pressure sensor 2m, a sensing pressing plate 2n and a proximity sensor 8, wherein a groove penetrating through the pressure sensor and a cross rod 2e is vertically formed in the outer side of a bearing rail 2j, the pressure sensor 2m is arranged in the groove, the sensing pressing plate 2n is arranged at the top of the pressure sensor 2m and presses the top of the pressure sensor 2m, the sensing pressing plate 2n is flush with the top of the bearing rail 2j, the proximity sensor 8 is arranged in the groove of the cross rod 2e below the bearing rail 2j, the pressure sensor 2m and the proximity sensor 8 are connected with a shelf controller 2o through a data line, the sensing pressing plate 2n is arranged to be of a dome-shaped structure, the edge of the sensing pressing plate 2n is flush with the top of the bearing rail 2j, and the sensing pressing plate 2n is an elastic metal sheet.

The bearing seat 2g is a hollow circular tube or a square tube, fixing sleeves 2h perpendicular to the side walls are fixedly arranged at the lower parts of any two opposite side walls of the bearing seat 2g, each fixing sleeve 2h is respectively connected with a cross rod 2e through bolts, connecting lug plates 2i are fixedly arranged at the middle lower parts of the side walls provided with the fixing sleeves 2h, each connecting lug plate 2i is connected with a diagonal draw bar 2f through bolts, a cross rod 2e perpendicular to the fixing sleeves 2h is arranged on a stand column 2d at the bottom of the fixing sleeve 2h, and two ends of each cross rod 2e are connected with the stand column 2d.

The height interval of the bearing seats 2g on the same upright post 2d is not less than 1-1.5 m.

A fixed connecting rod 2c is arranged between the adjacent bases 2b, the shelf controllers 2o are single-chip computers, and the positioning mechanism 2k is connected with the main control device 10 through the shelf controllers 2o to realize information and control interaction.

The cargo pallet 3 comprises a pallet body 3a, a plurality of supports 3c are arranged on the connecting surface of the pallet body 3a, main supports 3b with a square structure are respectively arranged at four corners of the connecting surface of the pallet body 3a, the supports 3c are arranged between the adjacent main supports 3b, auxiliary supporting plates 3d with the shape identical to that of the pallet body 3a are fixedly arranged at the lower ends of the main supports 3b, bearing plates 3e are respectively arranged on the working surfaces of the pallet body 3a and the auxiliary supporting plates 3d, a plurality of fetching grooves 3f are arranged on the bearing plates 3e, the fetching grooves 3f are arranged in a groined shape, and the outer edges of the main supports 3b are connected with the outer edges of the pallet body 3a and the auxiliary supporting plates 3d to form guide grooves 3g with a U-shaped structure; the tray body 3a and the bearing plate 3e are arranged in a gap of 1-3 mm, a mounting counter bore 3r is arranged in the center of the tray body 3a, a weight sensor 3s is arranged in the mounting counter bore 3r, the working end of the weight sensor 3s is upwards contacted with the bearing plate 3e, a buffer spring 3t is arranged at the lower end of the weight sensor 3s, a proximity sensor 8 parallel to the central axis of each support 3c of the tray body 3a is embedded at the outer end of each support 3c, a tray controller 3k is arranged in any grid of the connecting surface, and the tray controller 3k is connected with the weight sensor 3s and each proximity sensor 8; the tray controller 3k comprises a protective shell 3m, a storage battery 3n, a singlechip 3o, a wireless communication module 3p and a GPS positioning module 3q, wherein the storage battery 3n and the singlechip 3o are arranged in the protective shell 3m, the wireless communication module 3p and the GPS positioning module 3q are integrated on the singlechip 3o, and the weight sensor 3s and the proximity sensor are connected with the general control device 10 through the tray controller 3k to realize information and control interaction.

The tray is characterized in that an integrated forming structure at the center of the connecting surface of the tray body 3a is provided with an auxiliary support 3h, the auxiliary support 3h comprises a bearing column 3i and reinforcing ribs 3j, the bearing column 3i is arranged at the center of the connecting surface of the main support 3b, the lower end of the bearing column is connected with an auxiliary supporting plate 3d, reinforcing ribs 3j are respectively arranged in four directions of the upper end and the lower end of the bearing column 3i, a support 3c is connected at the tail end of each reinforcing rib 3j, the connection combination of the three is in a cross structure, the tail end of the support 3c is flush with the outer side edge of the main support 3b, reinforcing ribs 3j are respectively connected with the auxiliary support 3h and the adjacent main support 3b, the connection combination of the reinforcing ribs 3j and the auxiliary support 3h is in a grid structure, and the height of each reinforcing rib 3j is 0.3-0.5 times of the height of the support 3c or the main support 3 b.

The self-propelled lifting loading and unloading device 4 comprises a self-propelled travelling crane 4a, a direction adjusting mechanism and a loading and unloading mechanism 4i, wherein the direction adjusting mechanism is arranged on the upper portion of the self-propelled travelling crane 4a, the loading and unloading mechanism 4i is arranged on the direction adjusting mechanism, the direction adjusting mechanism comprises a rotary platform 7, a lower direction adjusting guide rail 4b, a lower direction adjusting driving piece 4c, a lifting stand 4d, a translation transverse frame 4e, a lifting driving piece 4f and a sliding seat 4g, the rotary platform 7 is arranged on the upper portion of the self-propelled travelling crane 4a, two lower direction adjusting guide rails 4b are symmetrically arranged on the rotary platform 7, the lower direction adjusting driving piece 4c is arranged at any end of the lower direction adjusting guide rail 4b and is arranged between the two lower direction adjusting guide rails 4b, the lifting stand 4d is arranged on the two lower direction adjusting guide rails 4b through the sliding seat 4g, a driving rod 6 is arranged at the lower portion or the bottom of the lifting stand 4d and is connected with the lower direction adjusting driving piece 4c, the translation transverse frame 4e is arranged on the lifting stand 4d through a sliding block 5, and the lifting driving piece 4f is arranged at the top of the lifting stand 4e and is connected with the loading and unloading mechanism.

The lifting vertical frame 4d is provided with a door frame-shaped vertical frame, lifting guide rails 4h matched with the sliding blocks 5 are vertically arranged on the inner side of the lifting vertical frame 4d, the translation transverse frame 4e is provided with a U-shaped frame, the rear sections of two transverse support arms of the U-shaped frame are respectively provided with the sliding blocks 5 corresponding to the lifting guide rails 4h, the loading and unloading mechanism 4i comprises feeding support rails 4j, feeding drive pieces 4k, adjusting support rails 4m, clamping arms 4n and adjusting drive pieces 4o, the feeding support rails 4j are symmetrically arranged on the translation transverse frame 4e, the rear sections of the feeding support rails 4j are provided with the feeding drive pieces 4k through supporting rods, the adjusting support rails 4m are arranged between the two feeding support rails 4j through the sliding blocks 5, the two adjusting drive pieces 4o are respectively connected with the feeding drive pieces 4k, and the two adjusting drive pieces 4o are respectively arranged at the middle sections of the adjusting support rails 4 m.

The lower steering driving piece 4c and the lifting driving piece 4f are motors, the driving rod 6 is a screw rod, the lower steering guide rail 4b and the lifting vertical frame 4d are respectively provided with screw rods in the same direction, screw nuts on the screw rods are connected with the lifting vertical frame 4d and the translation transverse frame 4e corresponding to the screw rods, the feeding driving piece 4k is a rodless cylinder, the adjusting driving piece 4o is a cylinder or a hydraulic cylinder, the self-propelled travelling crane 4a is an AGV trolley, and the AGV trolley is provided with a counterweight 9.

The lower direction regulating driving piece 4c, the lifting driving piece 4f, the feeding driving piece 4k and the adjusting driving piece 4o are respectively connected with the self-propelled loading and unloading controller 4p in a signal mode, the self-propelled loading and unloading controller 4p is arranged on the self-propelled travelling crane 4a, and the self-propelled loading and unloading controller 4p is a PLC (programmable logic controller).

The total control device 10 is respectively connected with the automatic loading and unloading controller 1r, the goods shelf controller 2o, the tray controller 3k and the feeding and unloading control device in a signal mode and controls the running of the automatic loading and unloading controller, and the total control device 10 is an industrial personal computer or a PC.

An operation management method of an intelligent material warehouse system capable of automatically feeding and discharging materials comprises the following steps:

A. a database is built, the automatic loading and unloading device 1, the storage shelf 2, each positioning mechanism 2k on the storage shelf 2, the proximity sensor 8, the goods tray 3, the tray controller 3k on the goods tray 3, the proximity sensor 8 and the self-propelled lifting loading and unloading device 4 are numbered one by one and input into the total control device 10 to build the database, and the weight of each single bag of fertilizer with each specification is input into the database; in the process of placing and storing fertilizers, the tray controller 3k realizes data transmission with the management system through the wireless communication module 3p, the function of remote supervision is realized, in the process of supervision, as the weight of single-bag fertilizers is standard and known, the weight sensor 3s can monitor the weight of the fertilizers on the tray body 3a in real time, so that the number of the fertilizer bags on the tray body 3a can be judged according to the total weight of the fertilizers, and the GPS positioning module 3q provides the information of the position of the tray body 3a, so that the position of the tray body 3a can be found quickly.

B. During warehouse entry supervision, when the goods trays 3 for stacking fertilizers are put in warehouse, the general control device 10 firstly screens the goods positions on the warehouse goods shelves 2, finds the empty goods positions, plans paths, and then moves the goods trays 3 to the empty goods positions by fork lifting by the automatic loading and unloading device 1 or the self-propelled lifting loading and unloading device 4 to place the goods trays 3 on the empty goods positions.

The concrete operation of warehouse entry is as follows:

b1, starting the automatic loading and unloading device 1 to run, driving the auxiliary travelling trolley 1d to travel to a feeding transfer area outside the storage shelf 2 by the main travelling trolley 1B, and then moving the auxiliary travelling trolley 1d to above the goods tray 3 stacked with the fertilizer, so that the fork lifting device 1h is positioned above the goods tray 3;

b2, the lifting mechanism 1e operates to control the fork lifting device 1h to descend to approach the cargo tray 3, the rotating platform 7 is started to operate according to the direction of the slot holes of the cargo tray 3, the clamp 1n of the fork lifting device 1h is adjusted to be consistent with the direction of the slot holes, the lifting mechanism 1e synchronously operates to control the fork lifting device 1h to descend, the clamp 1n and the slot holes are positioned on the same horizontal line, and then the main travelling trolley 1B is controlled to move to the cargo tray 3, so that the clamp 1n approaches the cargo tray 3;

b3, the fork lifting driving piece 1j drives the clamp 1n to move on the fork guide rail 1k through the driving rod 6 and insert into the slot hole of the goods tray 3, then the lifting mechanism 1e controls the fork lifting device 1h to lift up, so that the clamp 1n lifts the goods tray 3, and the fork lifting driving piece 1j drives the clamp 1n to reversely move on the fork guide rail 1k through the driving rod 6, so that the goods tray 3 with the fertilizer placed thereon is moved onto the fork lifting rack 1i, and the fork taking operation of the fertilizer is realized;

B4, the lifting mechanism 1e controls the fork lifting device 1h to continuously lift, so that the fork lifting device 1h and cargoes are at a certain height from the ground, the main travelling trolley 1B drives the auxiliary travelling trolley 1d to travel to the storage rack area, and the main travelling trolley 1B and the auxiliary travelling trolley 1d are respectively controlled to travel according to the position of the storage rack 2 to be placed until the fertilizer is conveyed to the position of the storage rack 2;

b5, controlling a lifting mechanism 1e to control a fork lifting device 1h to ascend or descend according to the vacancy position on the storage shelf 2, enabling a goods tray 3 with fertilizer placed thereon to be positioned on the same horizontal line with the vacancy, starting a fork lifting driving piece 1j to drive a clamp 1n to move towards the vacancy direction of the storage shelf 2 through a driving rod 6 until the goods tray 3 is placed in the vacancy, then controlling the fork lifting device 1h to descend by the lifting mechanism 1e, enabling the goods tray 3 to be placed in the vacancy of the storage shelf 2, enabling the fork lifting driving piece 1j to drive the clamp 1n to reversely move on a fork guide rail 1k through the driving rod 6, so that the clamp 1n is withdrawn from a slot hole of the goods tray 3, lifting the goods tray 3 with the fertilizer stacked thereon in a regular manner onto two bearing rails 2j, and storing the fertilizer is realized, so that the stability of the support and the convenience of taking are ensured, and three goods trays 3 are stored on the two bearing rails 2j at most;

B6, when the goods trays 3 with the fertilizer placed on the storage shelves 2 are stacked, the guide grooves 3g are aligned with the support rails on the storage shelves 2, the tray bodies 3a are pushed, namely, the guide grooves 3g horizontally penetrate and hang on the bearing rails 2j by adopting a concave-convex matching structure, so that the tray bodies 3a are prevented from shaking, and the storage stability is improved; when the tray body 3a is forked, the position of the tray body 3a can be quickly found according to the information provided by the GPS positioning module 3q, and the proximity sensor 8 is convenient and quick to find the space between the bracket and the support 3c, so that the fork-passing lifting device 1h can be accurately inserted into the space; when the fertilizer is separated from the tray body 3a and is forked from the bearing plate 3e, the fork lifting device 1h is inserted into the fetching groove 3f to lift the fertilizer upwards.

C. And (3) carrying out warehouse-out supervision, wherein according to the warehouse-out fertilizer quantity and specification request, the general control device 10 firstly screens and calculates the goods positions on the warehouse goods shelves 2, selects the goods positions meeting the warehouse-out requirement, controls the automatic loading and unloading device 1 or the self-propelled lifting loading and unloading device 4 to extract the goods trays 3 on the selected goods positions one by one, then conveys the goods shelves 2 out of the warehouse, and supplies the goods shelves to the transportation equipment.

When goods are extracted during warehouse-out, firstly, respectively controlling the main travelling trolley 1B and the auxiliary travelling trolley 1d to run to the position of the storage shelf 2 according to the placement position of the fertilizer to be extracted, repeating the operation of fork-lifting the fertilizer by the steps B2 and B3, and then respectively controlling the main travelling trolley 1B and the auxiliary travelling trolley 1d to run until the fertilizer is conveyed to a region to be extracted outside the storage shelf 2; secondly, according to the position of the conveying equipment, the lifting mechanism 1e is controlled to control the fork lifting device 1h to descend, the pallet 3 with the fertilizer placed thereon is lowered and placed on the conveying equipment, the fork lifting driving piece 1j is started to drive the clamp 1n to reversely move on the fork guide rail 1k through the driving rod 6, so that the clamp 1n is withdrawn from the slot hole of the pallet 3, and the fertilizer extraction operation is realized;

C2, in order to further improve the goods taking efficiency, the self-propelled lifting loading and unloading device 4 can be operated simultaneously to cooperate with the automatic loading and unloading device 1 to carry and improve the goods taking efficiency, the automatic loading and unloading device 1 takes out goods from the storage goods shelf 2 and then is placed on the self-propelled lifting loading and unloading device 4, the goods are rapidly transported to a transport vehicle position by the self-propelled lifting loading and unloading device 4, and then the self-propelled lifting loading and unloading device 4 unloads the goods tray 3 with the fertilizer on the vehicle.

D. And (3) a replenishment supervision step, wherein after warehousing and/or ex-warehouse, the total control device 10 firstly screens and calculates the goods positions on the storage shelf 2, records and updates the empty condition of each goods position on the storage shelf 2 and the placement quantity of fertilizer on the goods positions, and when the empty goods position quantity is greater than 20% of the total goods position quantity, the total control device 10 sends out replenishment warning to remind a manager of timely replenishment.

D1, when a load-bearing rail 2j of a storage shelf 2 is stored with a cargo tray 3, the cargo tray 3 is pressed on an induction pressing plate 2n of a positioning mechanism 2k, the induction pressing plate 2n applies pressure to a pressure sensor 2m, so that the fertilizer is stored on the load-bearing rail 2j, the weight of the fertilizer is judged according to the pressure received by the pressure sensor 2m, the specification of the fertilizer is further judged, the small pressure indicates that the quantity of the fertilizer is small, the large pressure indicates that the quantity of the fertilizer is large, for example, one or two … … n fertilizers, and then the pre-coding information of each device is combined according to the information sensed by a proximity sensor 8 of the positioning mechanism 2k, wherein the pre-coding information comprises the storage shelf 2, the positioning mechanism 2k, the cargo tray 3, a tray controller 3k, GPS positioning modules 3q and 3 s-weight sensors 3s, the specific position of the storage shelf 2 where the fertilizer is positioned and the specific position of the fertilizer on the storage shelf 2 are judged, and the problem of inaccurate positioning caused by light interference is effectively eliminated; and the pressure sensor 2m and the proximity sensor 8 of the positioning mechanism 2k do not sense pressure and proximity signals, which indicates that no fertilizer is placed on the bearing rail 2j at the position of the positioning mechanism 2k, and finally the storage position of the fertilizer and the empty position without goods can be rapidly judged according to the numbers of the storage shelves 2 and the positioning mechanism 2 k.

E. In order to further improve the goods storing and taking efficiency, the self-propelled lifting loading and unloading device 4 can be operated simultaneously to meet the low-level goods storing and taking requirement or to carry out a small amount of fertilizer storing and taking requirement, and the following steps are specifically:

e1, moving the self-propelled travelling crane 4a to a position to be carried by the bagged fertilizer, and adjusting the tail of the self-propelled travelling crane 4a to face the bagged fertilizer; the lower direction-adjusting driving piece 4c drives the lifting vertical frame 4d to translate to the rear end of the self-propelled travelling crane 4a, the lifting driving piece 4f drives the translation transverse frame 4e to descend or move upwards, so that two clamping arms 4n are close to the bagged fertilizer and level with the bagged fertilizer to be processed, the feeding driving piece 14 drives the clamping arms 4n to move along the feeding support rail 4j, so that the clamping arms 4n are inserted into the bottom of the fertilizer bag, then the lifting driving piece 4f drives the translation transverse frame 4e to move upwards to lift the bagged fertilizer, and then the self-propelled travelling crane 4a operates to convey the bagged fertilizer to another destination for carrying;

e2, the lifting driving piece 4f drives the translation transverse frame 4E to continue to move upwards to lift the fertilizer, so that the bagged fertilizer is lifted to a position with the height consistent with the placing position, or is lowered to a position with the height consistent with the placing position; the feeding driving piece 14 drives the clamping arm 4n to reversely move along the feeding branch rail 4j for resetting, so that the clamping arm 4n withdraws from the bottom of the fertilizer bag, and the bagged fertilizer is placed on a placement position for discharging;

E3, in the fork lifting or discharging process, the rotary platform 7 can be started to horizontally rotate so as to adjust the clamping arms 4n to align with the bagged fertilizer or the placing position, when the fertilizer bag is inconvenient to lift from the bottom, the adjusting driving piece 4o can be started to adjust the distance between the two clamping arms 4n, and the two sides of the fertilizer bag are clamped by the clamping arms 4n to lift; on the other hand, according to the size of the bagged fertilizer, the adjusting driving piece 4o is started to adjust the distance between the two clamping arms 4n so as to adapt to the conveying requirements of the bagged fertilizer with different sizes.

Claims (10)

1. The utility model provides an automatic intelligent material warehouse system of business turn over material, is including setting up in the warehouse to storage goods shelves (2), cargo pallet (3), automatic loading and unloading device (1) and self-propelled lift loading and unloading device (4) of signal connection master control device (10), its characterized in that: the automatic loading and unloading device (1) is arranged on the upper part or the top of the warehouse, and the self-propelled lifting loading and unloading device (4) is arranged on the ground of the warehouse and can move in the goods storing and taking channel of the warehouse at will; wherein the automatic loading and unloading device (1) comprises a self-propelled mechanism, a rotating platform (7), a lifting mechanism (1 e) and an automatic loading and unloading mechanism (4 i), the self-propelled mechanism is arranged on the upper part or the top of a warehouse, the rotating platform (7) is arranged on the lower part of the self-propelled mechanism, the lifting mechanism (1 e) is arranged on the lower part of the rotating platform (7), the automatic loading and unloading mechanism (4 i) is arranged on the bottom of the lifting mechanism (1 e), the automatic loading and unloading mechanism (4 i) comprises a fork lifting rack (1 i), a fork lifting driving piece (1 j), a fork lifting guide rail (1 k), a driving rod (6) and a clamp (1 n), the fork lifting rack (1 i) is provided with a cuboid frame structure, the driving rod (6) parallel to the axis line of the fork lifting rack is arranged on the lower part of the fork lifting rack (1 i), the fork lifting driving piece (1 j) is arranged on the lower part of the fork lifting rack (1 i) at any end of the driving rod (6), the fork lifting driving piece (1 j) is connected with the driving rod (6), the top of the fork lifting rack (1 i) is provided with the clamp (6) which is provided with two symmetrical guide rails (1 k) and two guide rails (1) are respectively arranged on two sides of the fork lifting guide rails (1) and (1 m) are respectively arranged on two sides of the fork lifting guide rails (1) and (1 m), four corners at the top of the fork lifting frame (1 i) are respectively provided with an extending bracket (1 q) which extends outwards, and each extending bracket (1 q) is respectively connected with a lifting mechanism (1 e).

2. The automatic feeding and discharging intelligent material warehousing system according to claim 1, wherein: the self-propelled mechanism comprises a main travelling trolley (1 b), auxiliary travelling trolleys (1 d), main travelling guide rails (1 a) and auxiliary travelling guide rails (1 c), wherein the main travelling guide rails (1 a) are respectively arranged on two sides of the upper part of the warehouse along the axial direction of the warehouse, at least two main travelling trolleys (1 b) are arranged on each main travelling guide rail (1 a), the main travelling trolleys (1 b) are connected with the main travelling trolleys (1 b) on the other main travelling guide rail (1 a) through the auxiliary travelling guide rails (1 c), the auxiliary travelling trolleys (1 d) are arranged on the auxiliary travelling guide rails (1 c), the tops of the rotary platforms (7) are fixedly connected with the lower parts of the auxiliary travelling trolleys (1 d), the bottoms of the rotary platforms (7) are connected with the lifting mechanisms (1 e), and the rotary platforms (7) drive the lifting mechanisms (1 e) to perform circumferential rotation; the lifting mechanism (1 e) comprises double-hook loop chain electric hoists (1 f) and a mounting frame (1 g), wherein the mounting frame (1 g) is provided with a square frame structure matched with the fork lifting frame (1 i), the bottom of the lifting frame is fixedly connected with the bottom of the rotary platform (7), at least two double-hook loop chain electric hoists (1 f) are arranged on the square frame structure, and two hanging chains of each double-hook loop chain electric hoists (1 f) are respectively connected with an extension bracket (1 q) on the same side of the fork lifting frame (1 i).

3. The automatic feeding and discharging intelligent material warehousing system according to claim 1, wherein: the fixture is characterized in that the fixture (1 n) is of a U-shaped structure, at least two supporting rollers (1 o) are arranged at the bottom of each clamping arm of the fixture (1 n), an auxiliary frame (1 p) fixedly connected with the fixture is arranged at the rear end of the fixture (1 n), the auxiliary frame (1 p) is of a U-shaped or square-shaped structure, a sliding block (5) is arranged at the bottom of the auxiliary frame (1 p) to be connected with a forked material guide rail (1 k), and an approaching sensor (8) is arranged at the rear end of the top of each forked material guide rail (1 k).

4. The automatic feeding and discharging intelligent material warehousing system according to claim 1, wherein: the storage shelf (2) comprises a base mechanism (2 a), stand columns (2 d), cross rods (2 e) and diagonal rods (2 f), wherein a plurality of base mechanisms (2 a) are arranged in parallel, each base mechanism (2 a) is connected and combined by a plurality of base (2 b) to form a 'day' or 'field' shaped structure, stand columns (2 d) are fixedly arranged on each base (2 b), each stand column (2 d) is provided with a bearing seat (2 g) from bottom to top at equal intervals, the stand columns (2 d) are connected or welded with each bearing seat (2 g) through bolts, bearing rails (2 j) are arranged between the bearing seats (2 g) on the same horizontal line, a positioning mechanism (2 k) is arranged on each bearing rail (2 j) between every two adjacent bearing seats (2 g), each positioning mechanism (2 k) is connected with a control device through a signal, the bottom of each bearing rail (2 j) is provided with a cross rod (2 e) perpendicular to the base mechanism, two ends of each cross rod (2 e) are respectively connected with the bearing seats (2 g) or the diagonal rods (2 j), and the direction of the bearing rails (2 j) is consistent.

5. The automatic feeding and discharging intelligent material warehousing system according to claim 5, wherein: positioning mechanism (2 k) include pressure sensor (2 m), response clamp plate (2 n), be close inductor (8), outside vertical being equipped with in bearing rail (2 j) runs through its recess with horizontal pole (2 e), pressure sensor (2 m) set up in the recess, response clamp plate (2 n) set up in pressure sensor (2 m) top to press on pressure sensor (2 m) top, and response clamp plate (2 n) flush with the top of bearing rail (2 j), be close inductor (8) and set up in the recess of horizontal pole (2 e) of bearing rail (2 j) below, pressure sensor (2 m), be close inductor (8) and pass through data line connection goods shelves controller (2 o), just response clamp plate (2 n) set up and be dome-shaped structure, the edge of response clamp plate (2 n) flushes with the top of bearing rail (2 j), and response clamp plate (2 n) are elastic metal piece.

6. The automatic feeding and discharging intelligent material warehousing system according to claim 1, wherein: the goods tray (3) comprises a tray body (3 a), a plurality of supports (3 c) are arranged on the connecting surface of the tray body (3 a), main supports (3 b) in a square structure are respectively arranged at four corners of the connecting surface of the tray body (3 a), the supports (3 c) are arranged between the adjacent main supports (3 b), auxiliary supporting plates (3 d) consistent with the tray body (3 a) in shape are fixedly arranged at the lower ends of the main supports (3 b), bearing plates (3 e) are respectively arranged on the working surfaces of the tray body (3 a) and the auxiliary supporting plates (3 d), a plurality of goods taking grooves (3 f) are arranged on the bearing plates (3 e), the goods taking grooves (3 f) are arranged in a groined shape, and the outer edges of the main supports (3 b) are connected with the outer edges of the tray body (3 a) and the auxiliary supporting plates (3 d) to form guide grooves (3 g) in a U-shaped structure; the tray body (3 a) and the bearing plate (3 e) are arranged in a gap of 1-3 mm, a mounting counter bore (3 r) is arranged in the center of the tray body (3 a), a weight sensor (3 s) is arranged in the mounting counter bore (3 r), the working end of the weight sensor (3 s) is upwards contacted with the bearing plate (3 e), a buffer spring (3 t) is arranged at the lower end of the weight sensor (3 s), an approach sensor (8) parallel to the central axis of the outer end of each support (3 c) of the tray body (3 a) is embedded, a tray controller (3 k) is arranged in any grid of the connecting surface, and the tray controller (3 k) is connected with the weight sensor (3 s) and each approach sensor (8); the tray controller (3 k) comprises a protective shell (3 m), a storage battery (3 n), a singlechip (3 o), a wireless communication module (3 p) and a GPS positioning module (3 q), wherein the storage battery (3 n) and the singlechip (3 o) are arranged in the protective shell (3 m), and the wireless communication module (3 p) and the GPS positioning module (3 q) are integrated on the singlechip (3 o).

7. The automatic feeding and discharging intelligent material warehousing system according to claim 7, wherein: the tray body (3 a) the center department integrated into one piece structure of junction surface set up auxiliary support (3 h), auxiliary support (3 h) are including spandrel post (3 i), strengthening rib (3 j), spandrel post (3 i) set up in the center department of junction surface of main support (3 b), auxiliary layer board (3 d) is connected to its lower extreme, set up strengthening rib (3 j) respectively in four directions at spandrel post (3 i)'s upper and lower both ends, at terminal connection support (3 c) of each strengthening rib (3 j), the three is connected the combination and is cross structure, and the terminal of support (3 c) is flush with the outside edge of main support (3 b), be connected respectively between auxiliary support (3 h) and adjacent main support (3 b) and be provided with strengthening rib (3 j), strengthening rib (3 j) are connected the combination with auxiliary support (3 h), adjacent main support (3 b) and are the net column structure, and the height of each strengthening rib (3 j) is support (3 c) or main support (3 b) 0.3 ~ 0.5 times.

8. The automatic feeding and discharging intelligent material warehousing system according to claim 7, wherein: the self-propelled lifting loading and unloading device (4) comprises a self-propelled travelling crane (4 a), a direction adjusting mechanism and a loading and unloading mechanism (4 i), wherein the direction adjusting mechanism is arranged at the upper part of the self-propelled travelling crane (4 a), the loading and unloading mechanism (4 i) is arranged on the direction adjusting mechanism, the direction adjusting mechanism comprises a rotary platform (7), a lower direction adjusting guide rail (4 b), a lower direction adjusting driving piece (4 c), a lifting stand (4 d), a horizontal translation frame (4 e), a lifting driving piece (4 f) and a sliding seat (4 g), the rotary platform (7) is arranged at the upper part of the self-propelled travelling crane (4 a), two lower direction adjusting guide rails (4 b) are symmetrically arranged on the rotary platform (7), the lower direction adjusting driving piece (4 c) is arranged at any end of the lower direction adjusting guide rail (4 b) and between the two lower direction adjusting guide rails (4 b), the lifting stand (4 d) is arranged on the two lower direction adjusting guide rails (4 b) through a sliding seat (4 g), the lower part or the bottom of the lifting stand (4 d) is connected with the lifting stand (4 e) through a sliding seat (6 e), the lifting driving piece (4 e) is arranged at the upper part of the lifting stand (4 e) in a horizontal translation mode, the loading and unloading mechanism (4 i) is arranged on the translation transverse frame (4 e).

9. The automatic feeding and discharging intelligent material warehousing system according to claim 9, wherein: lifting vertical frame (4 d) set up and be door frame shape grudging post, at lifting vertical frame (4 d) inboard vertical setting and lifting rail (4 h) of slider (5) adaptation, translation crossbearer (4 e) set up and are U-shaped frame, correspond lifting rail (4 h) set up slider (5) respectively at two transverse support arm rear ends of U-shaped frame, loading and unloading mechanism (4 i) including advance stock rail (4 j), advance driving piece (4 k), regulation stock rail (4 m), centre gripping arm (4 n), regulation driving piece (4 o), advance stock rail (4 j) symmetry and set up on translation crossbearer (4 e), advance the back end of stock rail (4 j) and set up through branch and advance driving piece (4 k) in two, adjust stock rail (4 m) and connect and advance driving piece (4 k) respectively, centre gripping arm (4 n) are provided with two regulation driving pieces (4 o) through slider (5) and are adjusted stock rail (4 m), two regulation driving pieces (4 o) are all connected.

10. An operation management method of an intelligent material warehouse system capable of automatically feeding and discharging according to any one of claims 1-9, comprising the steps of establishing a database, warehousing supervision, ex-warehouse supervision and replenishment supervision, and is characterized in that: the specific steps are as follows,

A. Establishing a database, inputting serial numbers of each positioning mechanism (2 k), a proximity sensor (8), a cargo tray (3), a tray controller (3 k) on the cargo tray (3), the proximity sensor (8) and the self-propelled lifting loading and unloading device (4) on the automatic loading and unloading device (1), the storage shelf (2) and the storage shelf (2) into a main control device (10) one by one, establishing a database, and inputting the weights of single bags of fertilizers with different specifications into the database;

B. during warehouse-in supervision, when a goods pallet (3) for stacking fertilizers is in warehouse-in, a main control device (10) firstly screens goods positions on a warehouse goods shelf (2), finds empty goods positions, plans a path, then, fork-lifts the goods pallet (3) to the empty goods positions by an automatic loading and unloading device (1) or a self-propelled lifting loading and unloading device (4), and places the goods pallet (3) on the empty goods positions;

C. the warehouse-out supervision, according to the warehouse-out fertilizer quantity specification request, the general control device (10) firstly screens and calculates the goods positions on the warehouse goods shelves (2), selects the goods positions meeting the warehouse-out requirement, controls the automatic loading and unloading device (1) or the self-propelled lifting loading and unloading device (4) to extract the goods trays (3) on the selected goods positions one by one, then conveys the goods shelves (2) to be delivered to the transportation equipment;

D. And (3) a replenishment supervision step, wherein after warehousing and/or ex-warehouse, the total control device (10) firstly screens and calculates the goods positions on the storage shelf (2), records and updates the empty condition of each goods position on the storage shelf (2) and the placement quantity of fertilizer on the goods positions, and when the empty goods position quantity is greater than 20% of the total goods position quantity, the total control device (10) sends out replenishment warning to remind a manager of timely replenishment.