CN109319526B - Container loading and storing system and method for bagged materials - Google Patents

Abstract

The invention discloses a container loading and storage system and method for bagged materials. It is used to create a closed moisture-proof space to store or transfer the container of bagged materials; it is used to realize the auxiliary loading unit for the material stacking of the entire container chassis; it conveys the bagged materials to the stacking robot station through the belt, and puts the bagged materials into the auxiliary The double-station palletizing system on the container chassis on the loading unit; the circulation storage area for storing empty containers and full cargo containers; the invention controls the stacking robot to stack bagged materials through the control system, and the auxiliary loading unit Containers are packed and transported, and the containers are hoisted and stacked or transferred to the storage area through the gantry crane. The system of the invention is safe and reliable, has low cost, can realize unmanned operation, and has a high degree of automation.

Description

Container loading and storage system and method for bagged materials

technical field

In the field of article transportation, the present invention is especially suitable for the container loading task of bagged materials and the short-term storage task of bagged materials, and particularly relates to a container loading and storage system and method for bagged materials.

Background technique

At present, after the production of bagged materials (lime, flour, cement, chemical fertilizers, sugar and other products) is completed, when carrying out vehicle loading work, it is still mainly completed by manpower. Products are usually stacked on shelves or pallets. When loading is required, the pallets and goods are forklifted and placed on the edge of the truck by a forklift, and then the goods are loaded into the truck by manpower. Among them, whether it is a heavy item or a dangerous item, there will be a greater safety hazard for the staff; in addition, due to the difference between the off-season and peak sales season, factories often need to build a large number of warehouses to store the output in the off-season sales, and the capital investment is large. Therefore, it has become an urgent problem for enterprises and society to develop a loading system that has high work efficiency, can reduce the intensity of human labor, and has no warehouse storage.

At present, the products or patents on the market all have disadvantages such as low loading efficiency, temporary storage of products that are not transported in time, and emergency storage warehouses need to be built:

The ZQD100 mobile bagged cement loading machine used by Yatai Group Tonghua Cement Co., Ltd. and the new cargo platform cement loading machine used by Anhui Conch Group can transport the packaged materials to the top of the transportation vehicle, but the material pile Stacking into the car body still needs to be done manually.

Qinhuangdao Port C Wharf was transformed into a special wharf for loading and unloading bulk chemical fertilizers. A high-tech mobile loading machine was used to directly load the bagged fertilizers from the packing machine into the train carriages. However, untimely products need to be transferred to the warehouse for temporary storage, and emergency storage warehouses still need to be established.

CN203806728U discloses a loading robot, the car and the conveying track are placed under the gantry crane, and the gantry crane can move in the x direction through the ground roller table. The gripper of the machine is placed on the gantry crane, which can realize the movement in the y and z directions. However, it uses a truss robot to carry a single gripper while stacking and loading, which is inefficient and also requires the establishment of an emergency storage warehouse.

CN107352290A discloses a packing box automatic loading robot, which penetrates into the interior of the compartment to complete automatic stacking through the walking device at the lower end of the gantry. Although this type of loading equipment has a high degree of automation, the loading efficiency is low because the products are delivered to the interior of the compartment through a single conveyor line, and an emergency storage warehouse is also required.

Contents of the invention

In order to solve the above-mentioned defects existing in the prior art, one of the purposes of the present invention is to provide a container loading and storage system and method for bagged materials, so as to solve the problems of low loading efficiency and untimely transshipment of the existing loading system. Temporary storage of products requires technical issues such as building emergency storage warehouses.

The present invention is achieved through the following technical solutions.

According to one embodiment of the present invention, a container loading and storage system for bagged materials comprises:

Gantry cranes, which automatically identify containers according to the task instructions of the control system, are used to transfer empty containers or full cargo containers between auxiliary loading units, container trucks and circulation storage areas;

The container is a detachable snap-fit container, which is used to create an airtight moisture-proof space to store or transfer bagged materials;

The auxiliary loading unit is used to open the detachable snap-fit container, carry the container chassis, move intermittently according to the palletizing instructions of the control system, and assist the double-station palletizing system to realize the material stacking of the entire container chassis;

Double-station palletizing system, conveying bagged materials to the palletizing robot station through the belt, machine vision automatically recognizes the position of the auxiliary loading unit, controls its position movement and adjustment, and the palletizing robot puts the bagged materials into the auxiliary loading unit on the container chassis;

Rotation storage area for storage of empty containers and full cargo containers;

The control system is used to obtain the bagged materials collected by the binocular vision components on the gantry crane and double-station palletizing system, and the position information of the auxiliary loading machine, control the palletizing robot to stack the bagged materials, and control the auxiliary loading unit to transport the container and position adjustments.

Preferably, the gantry crane includes a ground rail, on which a pair of crossbeam supports are set up through the wheel set, and a double crossbeam set is set on the crossbeam support, and two moving train sets, two lifters Lifting component and two binocular vision components Ⅰ, corresponding to each mobile car group is provided with a lifting hook; also includes a driver's cab on the beam support.

Preferably, the two binocular vision components I are respectively installed on two mobile vehicle groups.

Preferably, the driver's cab is arranged between a pair of beam support columns, and the beam support is a pair of support columns distributed in a figure-eight shape, so that the driver's cab has a wide view.

Preferably, the container is composed of a container chassis and a sealed fence, the two are fastened to form a closed box, the sealed fence is a frame structure, and connecting pins are provided at the bottom of the four sides of the frame, and the connecting pins pass through the sealed fence and the container. Chassis, locked by screw.

Preferably, the top of the airtight box is provided with lifting rings distributed symmetrically across the box; the frame of the container chassis is provided with a sealing groove embedded with a sealing ring.

Preferably, the auxiliary loading unit consists of an auxiliary loading machine chassis carried by several mobile turbine units, and the four corners of the upper surface of the auxiliary loading machine chassis are respectively provided with pin opening and closing assemblies that match the connecting pins. It is used to realize the automatic splitting and buckling of the container.

Preferably, the double-station palletizing system includes a main belt line connected to the bagged material incoming area, and several auxiliary belt lines connected to the main belt line, and a palletizing system is provided at the end of each auxiliary belt line. For the robot, set the binocular vision component II above the palletizing robot.

The present invention correspondingly provides the container loading and storage method of the bagged material of the above-mentioned system, comprising the following steps:

1) The control system controls the auxiliary loading unit to move to the effective working range of the gantry crane;

2) The cab personnel control the wheel set of the gantry crane to move along the ground rail to the top of the empty container;

3) The binocular vision component Ⅰ on the gantry crane automatically recognizes the lifting hook and the container ring, and the control system sends the information collected by the binocular vision component Ⅰ to the display screen in the gantry driving cab to assist the cab personnel to carry out container inspection. hanging;

4) The operator in the cab controls the position adjustment of the driving wheel set and the position adjustment of the two mobile car sets, and then controls the movement of the lifting components, so that the lifting hook is hooked to the container ring, and the empty container is lifted and placed on the chassis of the auxiliary loading unit superior;

5) After confirming that the container is placed on the chassis of the auxiliary loading unit, the operator in the cab sends a container separation command to the control system;

6) The control system controls the pin opening and closing components on the chassis of the auxiliary loading unit to synchronously separate from the connecting pins of the container;

7) The operator in the cab controls the movement of the lifting components of the gantry crane, so that the lifting hook separates the sealed fence of the separated container from the container chassis; the operator in the cab controls the movement of the wheel group along the ground rail to leave the running channel of the auxiliary loading unit;

8) The operator in the cab confirms that the sealed fence of the separated container is separated from the container chassis, and sends a stacking command to the control system;

9)) The control system controls the auxiliary loading unit to carry the container chassis to the palletizing corridor of the double-station palletizing system;

10) The belt line of the double-station palletizing system transports the bagged materials produced by the production line to the picking positions of the two palletizing robots;

11) The binocular vision component II of the double-station palletizing system collects the image of the auxiliary loading unit and transmits it to the control system. The control system calculates the current position of the auxiliary loading unit through image processing and adjusts the position;

12) The control system controls the palletizing robot to pick up the bagged materials at the pick-up position and load them into the chassis of the auxiliary loading unit with a container chassis in a certain order;

13) After the materials are stacked, the control system controls the auxiliary loading unit to move to the effective working range of the gantry crane, and the operator in the cab controls the crane to adjust the position, so that the lifting hook will place the container sealing fence on the container chassis that has been fully loaded with materials ;

14) After confirming that the container sealing fence is placed on the container chassis that has been fully loaded with materials, the operator in the cab sends a container closing command to the control system;

15) The control system controls the pin opening and closing components on the chassis of the auxiliary loading unit to synchronously insert the connecting pins of the container;

16) The cab personnel control the gantry driving to lift the closed container full of materials; transport the closed container full of materials to the circulation storage area or directly above the truck to be loaded;

17) The operator in the cab controls the lifting component of the gantry driving to control the lifting hook to drop the container, and place the container in the circulation storage area or transfer it to the truck to be loaded.

The present invention has the following beneficial effects due to the adoption of the above technical solutions:

1. The present invention adopts the structure form of automatic splitting and connecting containers, and the process of splitting and connecting containers does not require manual assistance, so that unmanned work in the intermediate links is achieved, cost input is saved, and personnel operation hazards are avoided;

2. The gantry crane of the present invention adopts binocular vision components to automatically identify and locate the lifting hook and the container hook, assists manual execution of the hooking task, does not need manual assistance to hook the container, and avoids the dangerous link of personnel operation;

3. The present invention adopts the form of a container whose upper and lower parts can form a sealed inner space, which can be placed in a rainy and snowy environment to ensure that the products carried inside are kept in a dry environment, and are used for storage in open squares, eliminating the need to build warehouses high infrastructure costs;

4. The present invention adopts a double-station palletizing system, which puts the materials on the container chassis in advance, and there are no columns, fences, etc. around the container chassis to interfere with the movement route of the palletizing robot, which improves the convenience and efficiency of material stacking;

5. The present invention uses binocular stereo vision components to carry out three-dimensional contour recognition, position detection and real-time monitoring of bagged materials and auxiliary loading unit loading stacks, and then realizes automatic stacking of bagged products to containers by controlling two palletizing robots On the chassis, unmanned operation, high degree of automation;

6. The present invention adopts the container-type loading method with full load of products, that is, the gantry crane lifts the container sealing fence and installs it on the container chassis, and the gantry crane lifts the entire container for loading, which is simple and efficient, and greatly shortens the time for vehicles to stop and wait for loading time.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention, constitute a part of the application, and do not constitute an improper limitation of the present invention. In the accompanying drawings:

Figure 1 is a layout diagram of the container loading and storage system for bagged materials;

Figure 2 is a schematic diagram of the composition of the gantry;

Fig. 3 is a composition schematic diagram of container composition (closed state);

Fig. 4 is the composition schematic diagram of container composition (split state);

Figure 5 is a schematic diagram of the composition of the auxiliary loading unit;

Figure 6 is a schematic diagram of the composition of the double-station palletizing system.

In Figure 1: 1-gantry crane, 2-container, 3-auxiliary loading unit, 4-double-station palletizing system, 5-transfer storage area, 6-return container truck, 7-truck to be loaded, 8-has Loading truck, 9-control system.

In Fig. 2: 1-1-ground rail, 1-2-wheel group, 1-3-beam support, 1-4-double beam group, 1-5-mobile car group, 1-6-lifting assembly, 1 -7- binocular vision component Ⅰ, 1-8- lifting hook, 1-9- cab.

Among Fig. 3, Fig. 4: 2-1-container chassis, 2-2-seal fence, 2-3-connecting pin, 2-4-container ring.

Among Fig. 5: 3-1-auxiliary vehicle loader chassis, 3-2 mobile turbine unit, 3-3-pin opening and closing assembly.

In Figure 6: 4-1-main belt line, 4-2-auxiliary belt line, 4-3-palletizing robot, 4-4-binocular vision component II.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, where the schematic embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

As shown in Figure 1, the container loading and storage system of bagged material of the present invention comprises:

A set of gantry cranes 1, a sufficient number of containers 2, an auxiliary loading unit 3, a double-station palletizing system 4, a sufficiently open circulation storage area 5, returned container trucks 6, trucks to be loaded 7, loaded Truck 8, control system 9, the functions of each part are as follows:

Gantry driving 1, according to the task instruction of the control system, automatically identifies the container 2 (including empty container, container after splitting and full cargo container), and is used for the position transfer of container 2, and returns the empty container 2 from the container truck 6 (or The circulation storage area 5) is transported to the auxiliary loading unit 3, or the full cargo container 2 is transported from the auxiliary loading unit 3 or (or the circulation storage area 5) to the truck 7 to be loaded, or the full cargo container 2 Transported from the auxiliary loading unit 3 to the circulation storage area 5.

The container 2 belongs to a detachable fastening container, which has two states of an empty container 2 and a full cargo container 2, and is used to create an airtight moisture-proof space for storing or transferring bagged materials.

The auxiliary loading unit 3 is used to open the four pins of the set (and close) packing 2, separate the container from the sealing fence 2-2 and the container chassis 2-1, and then use the lifting hook 1-8 to lift it away Seal the fence 2-2, leave the container chassis 2-1 on the auxiliary loading machine chassis 3-1 of the auxiliary loading unit 3, and carry the container chassis 2-1 to the palletizing corridor of the double-station palletizing system 4, According to the intermittent position movement of the palletizing instruction, the double-station palletizing system 4 realizes the material stacking of the entire container chassis 2-1.

The double-station palletizing system 4, under the control of the control system, conveys the bagged materials to the palletizing robot station through the belt, uses machine vision to automatically identify the position of the auxiliary loading unit 3, and controls the auxiliary loading unit 3 to adjust the position. The palletizing robot puts the bagged materials on the container chassis 2-1 on the auxiliary loading unit 3.

The circulation storage area 5 is used to store empty containers 2 that have not yet had time to be packed, and full cargo containers 2 that have not yet had time to be shipped out.

The present invention uses the gantry crane 1 and the auxiliary loading unit 3 to move and disassemble the container 2, then utilizes the double-station palletizing system 4 to stack the bagged material container 2, and then lifts the container 2 to the circulation storage area 5 through the gantry crane 1 , to realize the centralized storage and moisture-proof airtight storage of bagged materials, or hoist them to the truck 7 to be loaded through the gantry crane 1, realize the rapid loading of bagged goods, and greatly shorten the time for vehicles to stop and wait for loading. The gantry crane 1 hooks the container 2 to move the position of the container; the hooked container 2 loaded with goods is transferred from the circulation storage area 5 to the truck to be loaded on the ground, and the idle container 2 can also be hooked and transferred from the truck to the circulation storage On the ground in zone 5 or on the auxiliary loading unit 3.

As shown in Figure 2, the gantry crane 1 includes a ground rail 1-1, a pair of beam supports 1-3 are erected on the ground rail 1-1 through the wheel set 1-2, and a double beam set 1-3 is erected on the beam support 1-3. 4. There are two mobile vehicle groups 1-5, two lifting components 1-6 and two binocular vision components I1-7 slidingly connected between the double beam groups 1-4, corresponding to each mobile vehicle group 1- 5 is provided with a hoisting hook 1-8; Also includes a driver's cab 1-9 located on the beam support 1-3. The two binocular vision components 1-7 are respectively installed on the two mobile vehicle groups 1-5, and the field of view of the binocular vision camera can cover the upper and lower sides of the lifting hook 1-8. On the one hand, it is the cab 1-9 On the other hand, it can automatically identify and locate the lifting hook 1-8 and the container ring 2-4, and automatically control the gantry crane 1 to carry out the task of hooking the container 2. The cab 1-9 is set between a pair of beam supports 1-3 columns, and the beam supports 1-3 are a pair of support columns distributed in a figure-eight shape to ensure that the field of view of the operators in the cab 1-9 is wide enough to cover the entire system.

The operator is located on the binocular vision component I1-7 of the gantry train 1 to identify and locate the target, independently controls the wheel set 1-2 to move along the ground rail 1-1 to move in the x direction, and the two mobile train sets 1-5 move along the double beam Groups 1-4 move in the y direction, adjust the lifting components 1-6 to move directly above the container 2, and then control the lifting hooks 1-8 to lift the empty container 2.

As shown in FIG. 3 , the container 2 is a detachable snap-fit container, and has two states: empty container 2 and full cargo container 2 . Including the airtight box composed of the container chassis 2-1 and the sealed fence 2-2 buckled with it, the sealed fence 2-2 is a frame structure, and connecting pins 2-3 are arranged at the bottom of the four sides of the frame, and the connecting pins 2-3 run through Because the sealing fence 2-2 and the container chassis 2-1 are locked by the threads on the pins 2-3, the container chassis 2-1 and the sealing fence 2-2 are connected into one body through four connecting pins 2-3; The inner space of the container 2 is sealed. The top of the airtight box body is provided with container rings 2-4 symmetrically distributed across the box body, and the two container rings 2-4 are used for lifting hooks 1-8 to hang the container. A sealing groove embedded with a sealing ring is arranged in the frame of the container chassis.

As shown in Figure 4, after the four pins 2-3 of the container 2 are opened, the container suspension ring 2-4 can be hooked with the gantry crane hook 1-8, lifted away from the sealing fence 2-2, and the container chassis 2-1 Stay on the auxiliary loading machine chassis 3-1 of the auxiliary loading unit 3.

As shown in Figure 5, the auxiliary loading machine unit 3 is equipped with auxiliary loading machine chassis 3-1 carried by several moving wheel sets 3-2, and four corners on the upper surface of the auxiliary loading machine chassis 3-1 are respectively provided with The pin opening and closing assembly 3-3 matched with the connecting pin is used to realize the automatic disassembly and fastening of the container. The auxiliary loading unit 3 is responsible for disengaging the connecting pin 2-3 of the container 2; after the cargo is fully loaded, the auxiliary loading unit 3 is responsible for inserting the connecting pin 2-3 of the container 2.

As shown in Figure 6, the double-station palletizing system 4 includes a main belt line 4-1 connected to the bagged material incoming area, and two auxiliary belt lines 4-2 connected to the main belt line. A palletizing robot 4-3 is provided at the end of the line, and a binocular vision component II 4-4 is provided above each palletizing robot. The auxiliary loading unit 3 carries the container chassis 2-1 to the stacking corridor of the double-station palletizing system 4; the control system controls the intermittent movement of the auxiliary loading unit 3, and the double-station palletizing system 4 realizes the entire container chassis 2-1 1 material stacking.

The container loading and storage method of bagged materials of the present invention comprises the following steps:

1) The control system 9 controls the loading unit 3 to move to the effective working range of the gantry crane 1;

2) The cab personnel control the wheel set 1-2 of the gantry traveling vehicle 1 to move to the top of the free container 2 along the ground rail 1-1;

3) The gantry crane 1 uses the binocular vision component I1-7 to automatically identify and locate the lifting hook 1-8 and the container hook 2-4, and the control system 9 sends the information collected by the binocular vision component 1-7 to The display screen in the gantry driving cab assists the cab personnel to hang the container 2;

4) The cab personnel control the position adjustment of the driving wheel group 1-2 along the x direction and the position adjustment of the two mobile car groups 1-5 along the y direction, and control the movement of the lifting component 1-6 so that the heavy hook 1-8 is hooked The container lifting ring 2-4 lifts the idle container 2; the wheel group 1-2 of the gantry traveling vehicle 1 moves along the ground rail 1-1, and the two moving vehicle groups 1-5 adjust their positions synchronously along the y direction, and the container on the hook 2 Move to directly above the auxiliary loading unit 3; the lifting assembly 1-6 controls the lifting hook 1-8 to place the container 2 on the chassis 3-1 of the auxiliary loading unit;

5) After confirming that the container 2 is placed on the chassis 3-1 of the auxiliary loading unit, the operator in the cab sends a container separation command to the control system 9;

6) The control system 9 controls the four pin opening and closing components 3-3 of the auxiliary loading machine 3 to be separated from the four connecting pins 2-3 of the container 2 synchronously;

7) The cab personnel control the lifting assembly 1-6 of the gantry crane 1 to control the lifting hook 1-8 to separate the separated container sealing fence 2-2 from the container chassis 2-1; the cab personnel control the wheels 1-2 The group moves along the ground rail 1-1 to leave the running channel of the auxiliary loading unit 3;

8) The operator in the driver's cab confirms that the separated container sealing fence 2-2 is separated from the container chassis 2-1, and sends a stacking instruction to the control system 9;

9) The control system 9 controls the auxiliary loading unit 3 to carry the container chassis 2-1 to the palletizing corridor of the double-station palletizing system 4;

10) The main belt line 4-1 and two auxiliary belt lines 4-2 of the double-station palletizing system 4 continuously transport the bagged products produced by the production line to the pickers of the two palletizing robots 4-3 Location;

11) The binocular vision component II4-4 of the double-station palletizing system 4 collects the image of the auxiliary loading unit 3 and transmits it to the control system 9, and the control system 9 calculates the current position of the auxiliary loading unit 3 through image processing , and control it to adjust its position; the control system 9 sends the position information of the auxiliary loading unit to the palletizing robot 4-3, and controls the palletizing robot 4-3 to put the bagged materials on the auxiliary loading unit chassis 3-1 On the container chassis 2-1 above;

12) The control system 9 cooperates with the binocular vision component II 4-4 to carry out the three-dimensional contour recognition, position detection and real-time monitoring of the bagged materials and auxiliary loading unit stacking, and then realizes full automation by controlling two palletizing robots 4-3 Stack the bagged products on the container chassis 2-1; control the intermittent movement of the auxiliary loading unit 3, and then complete the material stacking of the entire container chassis 2-1;

13) After the stacking of materials on the container chassis 2-1 is completed, the control system 9 controls the auxiliary loading unit 3 to move to the effective working range of the gantry crane 1; Control the lifting assembly 1-6 to make the lifting hook 1-8 place the container sealing fence 2-2 on the container chassis 2-1 that has been fully loaded with materials;

14) After the operator in the cab confirms that the container sealing fence 2-2 has been placed on the container chassis 2-1 that has been fully loaded with materials, he sends a container closing command to the control system 9;

15) The control system 9 controls the four pin opening and closing components 3-3 of the auxiliary loading unit 3 to synchronously insert the four connecting pins 2-3 of the container 2;

16) The operator in the cab controls the lifting assembly 1-6 of the gantry crane 1, so that the lifting hook 1-8 lifts the closed container 2 full of materials; -1 movement, the two moving vehicle groups 1-5 are adjusted synchronously along the y direction, and the closed container 2 full of materials is transported to the circulation storage area 5 or directly above the truck 7 to be loaded;

17) The cab personnel control the lifting assembly 1-6 of the gantry crane 1, so that the lifting hook 1-8 will drop the container 2, place the container 2 on the circulation storage ground 5 or transfer it to the truck 7 to be loaded; then Control the two mobile vehicle groups 1-5 to adjust the position in the y direction, and control the lifting assembly 1-6 to separate the lifting hook 1-8 from the container 2.

The system of the present invention solves technical problems such as low loading efficiency of the existing loading system and the need to build an emergency storage warehouse for temporary storage of untimely products.

The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and modifications to some of the technical features according to the disclosed technical content without creative work. Deformation, these replacements and deformations are all within the protection scope of the present invention.

Claims (7)

1. A container loading and storage system for bagged materials, characterized in that it comprises: Gantry cranes, which automatically identify containers according to the task instructions of the control system, are used to transfer empty containers or full cargo containers between auxiliary loading units, container trucks and circulation storage areas; The container is a detachable snap-fit container, which is used to create an airtight moisture-proof space to store or transfer bagged materials; The auxiliary loading unit is used to open the detachable snap-fit container, carry the container chassis, move intermittently according to the palletizing instructions of the control system, and assist the double-station palletizing system to realize the material stacking of the entire container chassis; Double-station palletizing system, conveying bagged materials to the palletizing robot station through the belt, machine vision automatically recognizes the position of the auxiliary loading unit, controls the auxiliary loading unit to move and adjust the position, and the palletizing robot puts the bagged materials into the auxiliary On the container chassis on the loading unit; Rotation storage area for storage of empty containers and full cargo containers; The control system is used to obtain the bagged materials collected by the binocular vision component Ⅰ on the gantry crane and the binocular vision component Ⅱ on the double-station palletizing system, and the position information of the auxiliary loading unit, and control the palletizing robot to stack the bagged materials , Control the auxiliary loading unit to transport the container and adjust its position; The container includes a container chassis and an airtight box body buckled with the container chassis. The airtight box body is formed of a frame structure by a sealed fence, and connecting pins are arranged at the bottom of the four sides of the frame. The connecting pins penetrate through the sealed fence and the container chassis. locked in the latch; The auxiliary loading unit includes a chassis of the auxiliary loading unit carried by several mobile turbine units, and four corners of the upper surface of the chassis of the auxiliary loading unit are respectively provided with pin opening and closing components matched with connecting pins for realizing Automatic splitting and fastening of containers. 2. The container loading and storage system for bagged materials according to claim 1, wherein the gantry crane includes a ground rail, on which a pair of crossbeams are supported by wheel sets, and a pair of crossbeams are mounted on the crossbeams. Beam group, two mobile car groups, two lifting components and two binocular vision components I are slidingly connected between the double beam groups, corresponding to each mobile car group is provided with a lifting hook; also includes a Cab resting on beam supports. 3. The container loading and storage system for bagged materials according to claim 2, characterized in that, the two binocular vision components I are respectively installed on two mobile train groups. 4. The container loading and storage system for bagged materials according to claim 2, wherein the driver's cab is arranged between a pair of beam support columns, and the beam support is a pair of support columns distributed in a figure-eight shape . 5. The container loading and storage system for bagged materials according to claim 4, characterized in that, the top of the airtight box is provided with symmetrically distributed container lifting rings across the box; the frame of the container chassis is provided with The sealing groove for inserting the sealing ring. 6. The container loading and storage system for bagged materials according to claim 1, wherein the double-station palletizing system includes a main belt line connected to the bagged material incoming area, and a main belt line connected to the main belt For several auxiliary belt lines connected by the line, a stacking robot is installed at the end of each auxiliary belt line, and a binocular vision component II is set above the stacking robot. 7. A container loading and storage method for bagged materials of the system according to any one of claims 1-6, characterized in that, comprising the steps of: 1) The control system controls the auxiliary loading unit to move to the effective working range of the gantry crane; 2) The cab personnel control the wheel set of the gantry crane to move along the ground rail to the top of the empty container; 3) The binocular vision component Ⅰ on the gantry crane automatically recognizes the lifting hook and the container ring, and the control system sends the information collected by the binocular vision component Ⅰ to the display screen in the gantry driving cab to assist the cab personnel to carry out container inspection. hanging; 4) The cab personnel control the position adjustment of the driving wheel group and the position adjustment of the two mobile car groups, and then control the movement of the lifting components, so that the lifting hook hooks the container ring, lifts the empty container and places it on the chassis of the auxiliary loading unit superior; 5) After confirming that the container is placed on the chassis of the auxiliary loading unit, the operator in the cab sends a container separation command to the control system; 6) The control system controls the pin opening and closing components on the chassis of the auxiliary loading unit to synchronously separate from the connecting pins of the container; 7) The personnel in the cab control the movement of the lifting components of the gantry crane, so that the lifting hook will separate the sealed fence of the container from the container chassis; the personnel in the cab control the movement of the wheel group along the ground rail to leave the running channel of the auxiliary loading unit; 8) The operator in the cab confirms that the sealed fence of the separated container is separated from the container chassis, and sends a stacking command to the control system; 9) The control system controls the auxiliary loading unit to carry the container chassis to the palletizing corridor of the double-station palletizing system; 10) The belt line of the double-station palletizing system transports the bagged materials produced by the production line to the picking positions of the two palletizing robots; 11) The binocular vision component II of the double-station palletizing system collects the image of the auxiliary loading unit and transmits it to the control system. The control system calculates the current position of the auxiliary loading unit through image processing and adjusts the position; 12) The control system controls the palletizing robot to pick up the bagged materials at the pick-up position and load them into the chassis of the auxiliary loading unit with a container chassis in a certain order; 13) After the material is stacked, the control system controls the auxiliary loading unit to move to the effective working range of the gantry crane, and the operator in the cab controls the crane to adjust the position so that the lifting hook places the container sealing fence on the container chassis that has been fully loaded with materials ; 14) After the operator in the cab confirms that the container sealing fence is placed on the container chassis that has been fully loaded with materials, the container closing command is sent to the control system; 15) The control system controls the pin opening and closing components on the chassis of the auxiliary loading unit to synchronously insert the connecting pins of the container; 16) The cab personnel control the gantry driving to lift the closed container full of materials; transport the closed container full of materials to the circulation storage area or directly above the truck to be loaded; 17) The personnel in the cab control the lifting component of the gantry driving to control the lifting hook to drop the container, and place the container in the circulation storage area or transfer it to the truck to be loaded.

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