CN104443977B - A kind of rotary automatic access goods device and method - Google Patents

Abstract

The invention discloses a kind of rotary automatic access goods device and method, described device includes system lock support and auxiliary unit, mechanical arm, rotary deposits goods taking device, control unit, identity recognizing unit etc., device space availability ratio is substantially improved, goods confidentiality improves, realize modularization assembling and control, convenient transport, simple to operate, easy to maintenance；Complete goods with mechanical arm to deposit, withdraw and transmit, decrease duplication of labour amount, improve access efficiency.The rotary automatic access pallet piling up method of one of the present invention includes four kinds of patterns such as stocking pattern, picking pattern, fault mode and initialization pattern, four kinds of operator schemes or the states such as difference corresponding stock, picking, fault, initialization, goods deposits, withdraws and transmits and realizes automatization, substantially anthropic factor is got rid of, reduce artificial disturbance effectively, intelligence computation deposits, withdraws goods yard and puts, and all has authentication when depositing, withdrawing, it is ensured that the accuracy that goods deposits, withdraws.

Description

A kind of rotary automatic access goods device and method

Technical field

The present invention relates to a kind of access goods device and method, particularly to a kind of rotary automatic access goods device and the automatic access pallet piling up method that rotates with shelf, it is particularly suitable on a small scale storage, access environment is required automatic access high, to the high small sample of confidentiality requirement.

Background technology

At present, goods access is generally adopted Open architecture, and floor space is big, and space availability ratio is low, and goods confidentiality is poor.Generally adopting walking piler in automatization's access, piler walking step journey is relatively big, the depositing, withdrawing of goods, transmits and needs human intervention.For the application scenario that some access requirements are higher, the application scenario such as high in the bad environments such as coal sample access and file transmission confidentiality requirement, Open architecture, semi-automatic piler mechanism, repetition manual operations can not meet the requirement of automatization, information-based access.

Summary of the invention

For overcoming existing access goods structure can not meet automated management, and the problem such as space availability ratio is low and confidentiality is poor, the present invention provides a kind of rotary automatic access goods device and method, combine rotary display stand and mechanical arm structural advantages, it is particularly well-suited to storage on a small scale, access environment is required the small sample automatic access high, confidentiality requirement is high, disclosed access method, accurate positioning, efficiency is high, good confidentiality, it is achieved that the automatic access of goods, decreases manual operation, and realizing modularization assembling and control, operation, maintenance are simply, conveniently.

The invention discloses techniques below scheme:

A kind of rotary automatic access goods device, including: system lock support and auxiliary unit, mechanical arm, rotary goods taking device of depositing, and control unit, identity recognizing unit；

Wherein, system lock support and auxiliary unit include outward swinging door, deposit access section, deposit goods taking device and mechanical arm positioning base；

Mechanical arm is arranged on the center of system lock support and auxiliary unit, module, vertical lift module, mechanical arm module is horizontally rotated including mechanical arm, horizontally rotate module for driving vertical lift module and mechanical arm module forward and backward in horizontal extent, vertical lift module lifts in the vertical direction for driving mechanical arm module, mechanical arm module for the stretching of mechanical hand, contract, ascending, descending and lift, put operation；

Rotary goods taking device of depositing has multiple, arrange around mechanical arm, one of them is necessarily arranged on deposits access section place, rotary goods taking device of depositing includes depositing goods taking device and horizontally rotates module, deposit goods taking device positioning base and deposit goods taking device, deposit goods taking device to horizontally rotate module and just carrying out in horizontal extent for goods taking device will be deposited, reversion, deposit goods taking device multilamellar, each layer is divided into again multiple access covering of the fan, each layer, each covering of the fan is respectively provided with access site coding definition, and it is both provided with cargo sensors in each covering of the fan, for transmitting the information with or without goods to control unit；

Described control unit, processes the order received and the information of sensor reception, controls the action of driving mechanism feedback processing result；

Described identity recognizing unit includes goods identification card and goods identity recognizer, and described goods identification card is pasted onto on goods packing, comprises the identity information of goods, and described goods identity recognizer is arranged on mechanical hand (232).

Preferably, mechanical arm horizontally rotates module and includes mechanical arm vertical rod base, horizontal drive mechanism, horizontally rotate zero-bit mark mechanism, horizontally rotate count flag mechanism and horizontally rotate proximity switch, mechanical arm vertical rod floor installation is being deposited on goods taking device and mechanical arm positioning base, for carrying vertical lift vertical rod, and allow described vertical rod to rotate on mechanical arm vertical rod base, horizontal drive mechanism drives described vertical rod to rotate, the described zero-bit mark mechanism that horizontally rotates horizontally rotates the judgement of module original position by carrying out mechanical arm with the effect horizontally rotating proximity switch, the described count flag mechanism that horizontally rotates horizontally rotates the judgement of the module anglec of rotation by carrying out mechanical arm with the effect horizontally rotating proximity switch.

Preferably, described vertical lift module includes vertical lift vertical rod, sprocket wheel, vertical lift chain, vertical lift driving mechanism, vertical lift balancing weight, vertical lift zero-bit mark mechanism, vertical lift count flag mechanism and vertical lift proximity switch, described sprocket wheel is arranged on the top of described vertical rod, vertical lift chain and described sprocket engagement, one end of chain is fixing connects mechanical arm module, the other end is connected to vertical lift balancing weight, vertical lift driving mechanism drives described sprocket wheel to rotate thus realizing the descending operation of mechanical arm module, vertical lift zero-bit mark mechanism by carrying out the judgement of vertical lift module lifting original position with the effect of vertical lift proximity switch, vertical lift count flag mechanism by carrying out the judgement of vertical lift module adjustable height with the effect of vertical lift proximity switch.

Preferably, described mechanical arm module includes horizontal support arms, mechanical hand, mechanical arm drive mechanism, mechanical hand vertical lift module, mechanical hand horizontal extension module, horizontal support arms one end is connected to vertical lift chain, and mechanical hand is fixedly connected on the other end of horizontal support arms, and mechanical arm drive mechanism drives described manipulator behavior, mechanical hand vertical lift module vertical-lifting mechanical hands within the scope of covering of the fan, mechanical hand horizontal extension module horizontal extension mechanical hand in little scope.

Preferably, described goods taking device of depositing horizontally rotates module and includes depositing goods taking device mounting seat, deposit goods taking device horizontal drive mechanism, deposit goods taking device and horizontally rotate zero-bit mark mechanism, deposit goods taking device horizontally rotate count flag mechanism and deposit goods taking device and horizontally rotate proximity switch, deposit goods taking device mounting seat to be arranged on and deposit on goods taking device positioning base, goods taking device is deposited for carrying, and deposit goods taking device and rotate thereon described in allowing, deposit the drive of goods taking device horizontal drive mechanism and deposit goods taking device rotation, deposit goods taking device and horizontally rotate zero-bit mark mechanism by carrying out the judgement of original position with the effect horizontally rotating proximity switch, deposit goods taking device and horizontally rotate count flag mechanism by rotating the judgement of angle with the effect horizontally rotating proximity switch.

It is preferred that multiple described rotary deposit goods taking device equidistant, angularly, symmetrical being distributed in around described mechanical arm.

A kind of automatic access pallet piling up method to described device, four kinds of control models such as including initialization pattern, stocking pattern, picking pattern and fault mode, control unit realizes the control of whole action.

Described initialization pattern comprises the steps:

S1: system model judges, it is judged that whether system model is fault mode,

If system model is judged as fault mode, control unit is reported to the police, and enters fault mode and locks；

If system model is not fault mode, then enter step S2；

S2: system initialization, armamentarium is carried out initialization operation, whole actuator zero setting by control unit；

S3: initialized judgement, one initialization times of default, if after reaching the initialization times arranged, system initialization remains unfulfilled, and control unit is reported to the police, enters fault mode and locks, if system initialization completes, then entering S4；

S4: control unit receives system command, command context includes depositing, withdrawing operation, and deposits, withdraws goods positional information；

S5: control unit judges that command context is stock or picking, and read and deposit, withdraw goods positional information accordingly, if order is for stock, then enter stocking pattern, if order is picking, then enter picking pattern.

Described stocking pattern comprises the steps:

S6.1: enter stocking pattern；

S6.2: inventory location has judgement out of stock, as this position is in stockit is available, control unit is reported to the police, and enters fault mode and locks, as out of stock in this position, then enter S6.3；

S6.3: rotary goods taking device of depositing rotates, and is specifically described as:

S6.3.1: deposit the rotary goods taking device of depositing of access section and horizontally rotate module horizontally rotate by depositing goods taking device, makes inventory location towards mechanical arm；

S6.3.2: access site is rotary to be deposited goods taking device and horizontally rotate module horizontally rotate by depositing goods taking device, makes cargo location towards mechanical arm 2；

S6.4: be rotated in place judgement, is specifically described as:

S6.4.1: deposit goods taking device and horizontally rotate count flag mechanism by depositing access section and deposit goods taking device and horizontally rotate proximity switch and judge to deposit whether the rotary goods taking device of depositing of access section horizontally rotates and put in place, whether goods place inventory location is towards mechanical arm, if after reaching the number of revolutions arranged, deposit the rotary goods taking device of depositing of access section to be rotated in place not yet, control unit is reported to the police, enter fault mode and lock, if stipulated number internal memory access section is deposited goods taking device and is rotated in place, then enter S6.4.2；

S6.4.2: deposit goods taking device by inventory location and horizontally rotate count flag mechanism and deposit goods taking device and horizontally rotate proximity switch and judge whether the rotary goods taking device of depositing of inventory location horizontally rotates and put in place, whether inventory location is towards mechanical arm, if after reaching the number of revolutions arranged, the rotary goods taking device of depositing of inventory location is rotated in place not yet, control unit is reported to the police, enter fault mode and lock, if the rotary goods taking device of depositing of inventory location is rotated in place in stipulated number, then enter S6.5；

S6.5: mechanical arm action:

S6.5.1: horizontally rotate module by mechanical arm and horizontally rotate, rotates mechanical arm to access goods saliva mean place direction；

S6.5.2: carry out vertical ascent by mechanical arm vertical lift module, rises to mechanical arm and deposits access section upright position；

S6.6: arrive and deposit access section and judge: if after mechanical arm reaches the action frequency set, arriving yet and deposit access section, control unit is reported to the police, and enters fault mode and also locks, if mechanical arm arrives and deposits access section in the number of times of regulation, enters S6.7；

S6.7: goods identification；Mechanical arm arrives after depositing access section, and identity recognizing unit proceeds by identification and the checking of goods identity；

S6.8: recognize goods and judge: whether sensed by the identification card on goods and the identity recognizer on mechanical hand and be identified, if after reaching the identification number of times set, do not identify goods identity yet, then control unit is reported to the police, enter fault mode and lock, if not going out goods identity in stipulated number, enter S6.9；

S6.9: manipulator behavior:

S6.9.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters immediately below picking covering of the fan；

S6.9.2: mechanical hand actuator action, goods is held up by mechanical hand upwards action；

S6.9.3: mechanical hand vertical lift module vertical motion, holds out covering of the fan by goods；

S6.9.4: horizontal extension module action, mechanical hand 232 is retracted into initial position, is taken out from picking covering of the fan by goods；

S6.10: get goods and judge: mechanical hand does not get goods after reaching the picking number of times set yet, and control unit is reported to the police, enter fault mode and lock, if goods got by mechanical hand, stocking pattern enters S6.11；

S6.11: mechanical arm reoperates:

S6.11.1: carry out vertical lift by mechanical arm vertical lift module, by the upright position of mechanical arm lifting to stock；

S6.11.2: horizontally rotate module by mechanical arm and horizontally rotate, rotates the horizontal level to stock by mechanical arm；

S6.12: arrive inventory location and judge: if after reaching the action frequency arranged, not arriving inventory location yet, control unit is reported to the police, enter fault mode and lock, if mechanical arm arrives inventory location in stipulated number, stocking pattern enters S6.13；

S6.13: manipulator behavior: after mechanical arm arrives inventory location, the manipulator behavior on mechanical arm, to put down goods, particularly as follows:

S6.13.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters stock covering of the fan；

S6.13.2: mechanical hand vertical lift module down maneuver, puts goods into covering of the fan；

S6.13.3: mechanical hand actuator action, mechanical hand downward actuation puts down goods；

S6.13.4: horizontal extension module action, mechanical hand is retracted into initial position；

S6.14: stock puts in place judgement: after mechanical hand arrives the action frequency set, stock puts in place not yet, and control unit is reported to the police, enters fault mode and also locks, it is stipulated that number of times in after mechanical hand stock puts in place, stocking pattern terminates.

Described picking pattern comprises the steps:

S7.1: system enters picking pattern；

S7.2: there is judgement out of stock picking position, as out of stock in this position, control unit is reported to the police, and enters fault mode and locks, it is judged that after in stockit is available, and picking pattern enters S7.3；

S7.3: rotary goods taking device of depositing rotates, and is specifically described as:

S7.3.1: picking position is rotary deposits goods taking device and horizontally rotate module horizontally rotate by depositing goods taking device, makes cargo location towards mechanical arm；

S7.3.2: deposit the rotary goods taking device of depositing of access section and horizontally rotate module horizontally rotate by depositing goods taking device, makes to deposit the rotary goods taking device cargo storage position of depositing of access section towards mechanical arm；

S7.4: be rotated in place judgement:

S7.4.1: deposit goods taking device by picking position and horizontally rotate count flag mechanism and deposit goods taking device and horizontally rotate proximity switch and judge whether the rotary goods taking device of depositing in picking position horizontally rotates and put in place, whether picking position is towards mechanical arm, if after reaching the number of revolutions arranged, the rotary goods taking device of depositing in picking position is rotated in place not yet, control unit is reported to the police, enter fault mode also to lock, it is stipulated that number of times in be rotated in place, then enter S7.4.2；

S7.4.2: deposit goods taking device and horizontally rotate count flag mechanism by depositing access section and deposit goods taking device and horizontally rotate proximity switch and judge to deposit whether the rotary goods taking device of depositing of access section horizontally rotates and put in place, whether picking position, goods place is towards mechanical arm, if after reaching the number of revolutions arranged, deposit the rotary goods taking device of depositing of access section to be rotated in place not yet, control unit is reported to the police, enter fault mode also to lock, it is stipulated that number of times in be rotated in place, then enter S7.5；

S7.5: mechanical arm action:

S7.5.1: horizontally rotate module by mechanical arm and horizontally rotate, rotates mechanical arm to picking horizontal level；

S7.5.2: carry out vertical ascent by mechanical arm vertical lift module, rises to picking upright position by mechanical arm；

S7.6: arrive and deposit access section and judge: if after mechanical arm reaches the action frequency arranged, arriving picking position yet, control unit is reported to the police, and enters fault mode and also locks, it is stipulated that after mechanical arm arrives picking position in number of times, and picking pattern enters S7.7；

S7.7: goods identification: after mechanical arm arrives picking position, identity recognizing unit proceeds by identification and the checking of goods identity；

S7.8: recognize goods and judge: identity recognizing unit does not identify goods identity after reaching the identification number of times arranged yet, and control unit is reported to the police, enter fault mode and lock, after identity recognizing unit identifies goods identity, picking pattern enters S7.9；

S7.9: manipulator behavior:

S7.9.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters picking covering of the fan position directly below；

S7.9.2: mechanical hand actuator action, goods is held up by mechanical hand upwards action；

S7.9.3: mechanical hand vertical lift module vertical motion, makees goods is held out covering of the fan；

S7.9.4: horizontal extension module action, mechanical hand is retracted into initial position, is taken out from picking covering of the fan by goods；

S7.10: getting goods and judge: mechanical hand does not get goods after reaching the picking number of times arranged yet, and control unit is reported to the police, enter fault mode and lock, it is stipulated that after goods got by mechanical hand in number of times, picking pattern enters S7.11；

S7.11: mechanical arm action:

S7.11.1: carry out vertical lift by mechanical arm vertical lift module, lifts mechanical arm to depositing access section upright position；

S7.11.2: horizontally rotate module by mechanical arm and horizontally rotate, rotates mechanical arm to access goods saliva mean place；

S7.12: arrive and deposit access section judgement: if after reaching the action frequency arranged, arrives yet and deposits access section, and control unit is reported to the police, and enters fault mode and also locks, it is stipulated that after in number of times, mechanical arm arrives and deposits access section, the entrance of picking pattern；

S7.13: manipulator behavior:

S6.13.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters and deposits access section picking covering of the fan；

S6.13.2: mechanical hand vertical lift module down maneuver, props up goods into depositing access section picking covering of the fan；

S6.13.3: mechanical hand actuator action, mechanical hand downward actuation puts down goods；

S6.13.4: horizontal extension module action, mechanical hand returns to initial position；

S7.14: picking completes to judge: after mechanical hand arrives the action frequency arranged, picking completes not yet, and control unit is reported to the police, and enters fault mode and locks, and after mechanical hand picking completes, picking pattern terminates.

Comparing with existing access goods apparatus and method, beneficial effects of the present invention is as follows:

1, floor space is significantly reduced, and space availability ratio is substantially improved；

2, apparatus and method confidentiality of the present invention is relatively strong, the occasion that applicable confidentiality requirement is higher；

3, the present invention completes goods with mechanical arm and deposits, withdraws and transmit, and decreases duplication of labour amount, improves access efficiency；

4, goods of the present invention deposits, withdraws and transmits and realizes automatization, substantially gets rid of anthropic factor, reduces artificial disturbance effectively；

5, the present invention realizes modularization assembling and control, and convenient transport is simple to operate, easy to maintenance；

6, intelligence computation of the present invention deposits, withdraws goods yard and puts, and to ensure rotary to deposit goods taking device symmetrical balance in height, level, reduces equipment asymmetrical wear, increases equipment life；

7, the present invention all has authentication when depositing, withdrawing, it is ensured that the accuracy that goods deposits, withdraws；

8, the comprehensive tiered warehouse facility of the present invention and the rotary advantage depositing goods taking device, mobility strong, accurate positioning, access speed is fast, rationally can effectively utilize space, it is easily achieved automated job, the access requirement of particular sample and middle-size and small-size sample can be met very well.

Accompanying drawing explanation

Fig. 1 is specific embodiment of the invention integral structure layout schematic top plan view；

Fig. 2 is the mechanical arm structure chart of the specific embodiment of the invention；

Fig. 3 is the rotary access goods structure drawing of device of the specific embodiment of the invention；

Fig. 4 is that specific embodiment of the invention control flow is always schemed；

Fig. 4-1 is specific embodiment of the invention inventory control process figure；

Fig. 4-2 is specific embodiment of the invention picking control flow chart.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is described further:

Schematic top plan view such as Tu1Shi specific embodiment of the invention integral structure layout.It can be seen that the rotary automatic access goods device of the present invention specifically includes that system lock support and auxiliary unit 1, mechanical arm 2, rotary deposits goods taking device 3, in addition with control unit and identity recognizing unit, can't see in this figure.

System lock support and auxiliary unit 1, be a round sealed structure.Close in space and mechanical arm 2 is set, rotary deposit the other system unit such as goods taking device 3.The Primary containers that system lock support and auxiliary unit 1 access as goods, it is possible to adjust size and integral layout according to goods stored concrete condition.System lock support and auxiliary unit 1 leave outward swinging door 11, and leave and deposit access section 12 (see figure 1), for making full use of space, deposit access section 12 and are arranged on the surface of outward swinging door 11.Outward swinging door 11 leaves transparent windows.Outward swinging door 11 is the gateway needing turnover enclosure for equipment repair and maintenance et al., deposits access section 12 and is for daily inside delivery or takes out goods.Close to arrange in space and deposit goods taking device and mechanical arm positioning base 13, as mechanical arm 2 and the rotary installation foundation depositing goods taking device 3.

If Fig. 2 is the structural representation of specific embodiment of the invention mechanical arm 2.It is preferred that mechanical arm 2 is arranged on the center of circle of system lock support and auxiliary unit 1, its brachium can be adjusted according to the radial dimension of system lock support and auxiliary unit 1.Module 21, mechanical arm vertical lift module 22, mechanical arm module 23 is horizontally rotated including mechanical arm.

Mechanical arm horizontally rotates module 21 and includes mechanical arm vertical rod base 211, horizontal drive mechanism 212, horizontally rotates zero-bit mark mechanism 213, horizontally rotate count flag mechanism 214 and horizontally rotate proximity switch 215.Mechanical arm vertical rod base 211 is arranged on to be deposited on goods taking device and mechanical arm positioning base 13, is used for carrying vertical lift vertical rod 221, and allows described vertical lift vertical rod 221 to rotate on mechanical arm vertical rod base 211.

Mechanical arm 2 can horizontally rotate module 21 horizontal forward and backward in maximum rotating range by mechanical arm.Horizontal drive mechanism 212 includes horizontally rotating motor and drive mechanism；Drive mechanism is connected in mechanical arm vertical rod 221, drives vertical rod to rotate.Horizontally rotate zero-bit mark mechanism 213 and horizontally rotate the judgement of module 21 original position by carrying out mechanical arm with the effect horizontally rotating proximity switch 215, horizontally rotate count flag mechanism 214 and horizontally rotate the judgement of module 21 anglec of rotation by carrying out mechanical arm with the effect horizontally rotating proximity switch 215.

Mechanical arm vertical lift module 22 includes mechanical arm vertical rod 221, sprocket wheel 222, vertical lift chain 223, vertical lift driving mechanism 224, vertical lift balancing weight 225.Mechanical arm 2 can pass through vertical lift module 22 and perform vertical lift operation.Sprocket wheel 222 is arranged on the top of vertical rod, vertical lift chain 223 engages with sprocket wheel 222, one end of vertical lift chain 223 is fixing connects mechanical arm module 23, the other end connects vertical lift balancing weight 225, and vertical lift driving mechanism 224 drive sprocket 222 rotates thus realizing the descending operation of mechanical arm module 23.

Sprocket wheel 222, vertical lift chain 223, vertical lift driving mechanism 224, vertical lift balancing weight 225 collectively constitute the pulling mechanism to mechanical arm module 23, perform to pull up and down along vertical rod to mechanical arm module 23.It is also possible to determined the vertical lift height of mechanical arm 2 by vertical lift zero-bit mark mechanism, vertical lift count flag mechanism and vertical lift proximity switch (not shown), control principle is the same with what horizontally rotate.

Mechanical arm module 23 includes horizontal support arms 231, mechanical hand 232, mechanical arm drive mechanism 233, mechanical hand vertical lift module 234, mechanical hand horizontal extension module 235.Horizontal support arms 231 is arranged on one end of chain 223, horizontal support arms 231 connects mechanical hand vertical lift module 234, vertical lift module 234 connects mechanical hand horizontal extension module 235, mechanical hand horizontal extension module 235 front end connects mechanical arm drive mechanism 233, and mechanical arm drive mechanism 233 performs the lifting of mechanical hand 232, puts action.By mechanical hand vertical lift module 234 and mechanical hand horizontal extension module 235, it is possible to achieve the Local uniqueness of mechanical hand.Mechanical hand 232 is provided with goods identity recognizer 51, senses mutually with the identification card on goods, to identify and checking goods identity.Mechanical arm 2 can pass through mechanical arm drive mechanism 233, mechanical hand vertical lift module 234, the stretching of mechanical hand horizontal extension module 235, contract and ascending, descending and the operation lifting, put, carries out depositing, withdrawing of goods.

Mechanical arm 2 is horizontally rotated by it, vertical lift operates and the linkage of mechanical hand carries out goods and deposits, withdraws operation；When depositing access section 12 when there being goods to arrive, mechanical arm automatically carries out the extraction of goods according to system command, and is stored to the rotary appointment access site deposited on goods taking device 3 accordingly according to system command；When extracting when there being goods to need on access device, mechanical arm 2 automatically from the rotary appointment position discharging of goods deposited goods taking device 3 according to system command, is delivered to and is deposited access section 12.

If Fig. 3 is that the rotary of the specific embodiment of the invention deposits goods taking device 3 structure chart.Preferably, rotary goods taking device 3 of depositing has multiple, arrange round mechanical arm 2, be preferably according to system lock support and auxiliary unit 1 of uniform size, angularly, equidistant be arranged in mechanical arm 2 for the edge of concentrically ringed system lock support and auxiliary unit 1 so that mechanical arm 2 gets at each and rotary deposits goods taking device 3 with can waiting brachium.

Rotary goods taking device 3 of depositing specifically includes and deposits goods taking device and horizontally rotate module 31, deposit goods taking device positioning base 32 and deposit goods taking device 33.Rotary depositing the concrete supporting body that goods taking device 3 accesses mainly as goods, it can be divided into multilamellar, each layer can be divided into the little covering of the fan of multiple access.Each rotary goods taking device 3 of depositing, and each rotary each layer of depositing in goods taking device 3, each covering of the fan all can carry out access site coding definition, and be stored in control unit；And it is both provided with cargo sensors at each covering of the fan, for transmitting the information with or without goods to control unit.

Can pass through to deposit goods taking device and horizontally rotate module 31 by the rotation of all access sites extremely towards mechanical arm 2.It is preferred that the disabled access goods yard of the different layers depositing goods taking device 3 for rotary, different covering of the fan is put, the present invention all can carry out the shielding of position.

Deposit goods taking device positioning base 32 to be arranged on and deposit on goods taking device and mechanical arm positioning base 13, deposit goods taking device 33 for carrying, and allow to deposit goods taking device 33 and rotate thereon.Rotary goods taking device 3 of depositing is divided into and is deposited goods taking device and horizontally rotate module 31, horizontally rotated by it to drive and deposit goods taking device 33 integral level rotating, adjust the direction of goods access space on different levels, different covering of the fan, with towards mechanical arm 2, facilitate what mechanical arm 2 carried out goods to deposit, withdraw operation.

Deposit goods taking device to horizontally rotate module 31 and include depositing goods taking device mounting seat 311, deposit goods taking device horizontal drive mechanism 312, deposit goods taking device and horizontally rotate zero-bit mark mechanism 313, deposit goods taking device and horizontally rotate count flag mechanism 314 and deposit goods taking device and horizontally rotate proximity switch 315.Deposit goods taking device mounting seat 311 to be arranged on and deposit on goods taking device positioning base 32, deposit goods taking device 33 and be arranged on and deposit in goods taking device mounting seat 311.Rotary goods taking device 3 of depositing can pass through to deposit goods taking device and horizontally rotates zero-bit mark mechanism 313, deposits goods taking device and horizontally rotate count flag mechanism 314 and deposit goods taking device and horizontally rotate proximity switch 315 and determine the rotary anglec of rotation depositing goods taking device 3 and direction of rotation.Rotary goods taking device 3 of depositing can pass through to deposit goods taking device and horizontally rotates module 31 and carry out forward and backward in maximum rotating range.

It is preferred that deposit goods taking device 3 depositing the rotary of access section 12 place, floor height is only set to one layer, is mainly used as the access path of goods.During stock, after goods is taken away by mechanical arm, it is again assigned to away from depositing the depositing on goods taking device of access section 12；During picking, the goods depositing on goods taking device that will be far from depositing access section 12 is delivered to the external world

Above-mentioned mechanical arm 2 and rotary deposit that goods taking device 3 relates to horizontally rotate, the driving mechanism such as vertical lift, normal conditions are all realized by driven by motor conveyer belt or conveyer chain.

Control unit, for controlling device, receives system command, controls the action of all actuators in the present invention, and the signal of each sensor is processed.Control unit can be independent controlling organization, it is also possible to other controllers such as upper machine communication realize integration of operation；The present invention is so made to can be generalized in off-line operation and two kinds of working environments of on-line automaticization integration of operation.Control unit is provided separately within switch board (not shown).Control unit stores and has goods yard information to some extent, and whether each goods yard has the information of goods, building database, access goods for the later stage and control.

Identity recognizing unit, in order to be identified the identity of goods, in order to correctly access goods.It is made up of goods identification card and goods identity recognizer.Goods identification card is arranged on every goods, and goods identity recognizer 51 is arranged on mechanical arm 2 (as shown in Figure 2), in order to sense with the goods identification card being arranged on goods, goods identity is identified.

Fig. 4 is that specific embodiment of the invention control flow is always schemed, and concrete operation step includes:

S1: system model judges.It is specially and judges whether system model is fault mode Mf, is specifically described as:

S1.1: if system model is judged as fault mode Mf, control unit is reported to the police, and output error code " 1 ", enter fault mode and lock, jumping to step S8.

S1.2: if system model is not fault mode Mf, then enter step S2.

S2: system initialization.Control unit is before receiving and performing order, and system initially enters initialization pattern Mi, and armamentarium is carried out initialization operation, all performs structure zero setting, to guarantee the properly functioning of equipment.

Specifically include and mechanical arm 2 is horizontally rotated module 21, vertical lift module 22, the mechanical arm drive mechanism 233 of mechanical arm module 23, mechanical hand vertical lift module 234, mechanical hand horizontal extension module 235 and rotary goods taking device 3 of depositing horizontally rotate module 31 zero setting.

S3: initialized judgement.One initialization times of default, such as 3 times, if after reaching the initialization times arranged, system initialization remains unfulfilled, and control unit is reported to the police, output error code " 2 ", enters fault mode Mf and locks, jumping to S8.If system initialization completes, then enter S4.

S4: control unit takes orders.It is particularly as follows: control unit receives system command, carries out next step operation.Command context includes depositing, withdrawing operation, and deposits, withdraws goods positional information.

S5: command determination.It is particularly as follows: control unit judges that command context is stock or picking, and reading deposits, withdraws goods positional information accordingly.If order is stock, then enter stocking pattern Mc, i.e. S6；If order is picking, then enter picking pattern Mq, i.e. S7.

S6: stocking pattern Mc, see Fig. 4-1.Described stocking pattern is specifically described as:

S6.1: enter stocking pattern.It is particularly as follows: judge that command context is after stock and inventory location, namely enters stocking pattern Mc.

S6.2: inventory location has judgement out of stock；First described stocking pattern Mc carries out inventory location judgement out of stock, to verify the effectiveness of this inventory location.As this position is in stockit is available, control unit is reported to the police, and output error code " 3 ", enters fault mode Mf and locks, jumping to S8；As out of stock in this position, then stocking pattern Mc enters S6.3.

S6.3: rotary goods taking device 3 of depositing rotates.It is specifically described as:

S6.3.1: deposit the rotary goods taking device 3 deposited of access section and horizontally rotate module 31 horizontally rotate by depositing goods taking device, makes inventory location towards mechanical arm 2；

S6.3.2: access site is rotary to be deposited goods taking device 3 and horizontally rotate module 31 horizontally rotate by depositing goods taking device, makes cargo location towards mechanical arm 2；

S6.4: be rotated in place judgement.It is specifically described as:

S6.4.1: depositing goods taking device and horizontally rotate count flag mechanism 314 by depositing access section and deposit goods taking device and horizontally rotate proximity switch 315 and judge to deposit whether the rotary goods taking device 3 of depositing of access section horizontally rotates and put in place, whether goods place inventory location is towards mechanical arm 2.If after reaching the number of revolutions arranged (such as 3 times), depositing the rotary goods taking device 3 of depositing of access section and be rotated in place not yet, control unit is reported to the police, output error code " 4-1 ", enters fault mode Mf and locks, jumping to S8.If stipulated number internal memory access section is deposited goods taking device and is rotated in place, then enter S6.4.2.

S6.4.2: depositing goods taking device by inventory location and horizontally rotate count flag mechanism 314 and deposit goods taking device and horizontally rotate proximity switch 315 and judge whether the rotary goods taking device 3 of depositing of inventory location horizontally rotates and put in place, whether inventory location is towards mechanical arm 2.If after reaching the number of revolutions arranged, the rotary goods taking device 3 of depositing of inventory location is rotated in place not yet, and control unit is reported to the police, output error code " 4-2 ", enters fault mode Mf and lock, jumping to S8.If the rotary goods taking device of depositing of inventory location is rotated in place in stipulated number, then enter S6.5.

S6.5: mechanical arm action.It is specifically described as:

S6.5.1: horizontally rotate module 21 by mechanical arm 2 and horizontally rotate, rotates mechanical arm to access goods saliva mean place direction；

S6.5.2: carry out vertical ascent by mechanical arm 2 vertical lift module 22, rises to mechanical arm and deposits access section upright position.

S6.6: arrive and deposit access section judgement；If mechanical arm 2 reaches (such as 3 times) after the action frequency set, arriving yet and deposit access section, control unit is reported to the police, and output error code " 5 ", enters fault mode Mf and also locks, jumps to S8；If mechanical arm 2 arrives and deposits access section in the number of times of regulation, stocking pattern Mc enters S6.7.

S6.7: goods identification；It is specially mechanical arm 2 arrive deposit access section after, identity recognizing unit proceeds by identification and the checking of goods identity.

S6.8: recognize goods and judge；Whether it is particularly as follows: sense by the identification card on goods and the identity recognizer on mechanical hand and be identified, if after reaching the identification number of times set (such as 3 times), do not identify goods identity yet, then control unit is reported to the police, and output error code " 6 ", enter fault mode Mf and lock, jumping to S8；If not going out goods identity in stipulated number, stocking pattern Mc enters S6.9.

S6.9: manipulator behavior；It is particularly as follows: after identity recognizing unit identifies goods identity, mechanical hand 232 action on mechanical arm 2.It is specifically described as:

S6.9.1: horizontal extension module action, mechanical hand 232 forward extends out a segment distance, enters immediately below picking covering of the fan；

S6.9.2: mechanical hand 232 actuator action, goods is held up by mechanical hand 232 upwards action；

S6.9.3: mechanical hand 232 vertical lift module vertical motion, holds out covering of the fan by goods；

S6.9.4: horizontal extension module action, mechanical hand 232 is retracted into initial position, is taken out from picking covering of the fan by goods.

S6.10: get goods and judge；It, particularly as follows: mechanical hand 232 reaches (such as 3 times) after the picking number of times set, does not get goods yet, and control unit is reported to the police, and output error code " 7 ", enters fault mode Mf and also locks, jumps to S8；If goods got by mechanical hand 232, stocking pattern Mc enters S6.11.

S6.11: mechanical arm reoperates；It is specifically described as:

S6.11.1: carry out vertical lift by mechanical arm 2 vertical lift module 22, by the upright position of mechanical arm lifting to stock；

S6.11.2: horizontally rotate module 21 by mechanical arm 2 and horizontally rotate, rotates the horizontal level to stock by mechanical arm.

S6.12: arrive inventory location and judge；If after reaching the action frequency arranged, not arriving inventory location yet, control unit is reported to the police, and output error code " 8 ", enters fault mode Mf and locks, jumping to S8；If mechanical arm 2 arrives inventory location in stipulated number, stocking pattern Mc enters S6.13.

S6.13: manipulator behavior；It is particularly as follows: after mechanical arm 2 arrives inventory location, mechanical hand 232 action on mechanical arm 2, to put down goods.It is specifically described as:

S6.13.1: horizontal extension module action, mechanical hand 232 forward extends out a segment distance, enters stock covering of the fan；

S6.13.2: mechanical hand vertical lift module down maneuver, puts goods into covering of the fan；

S6.13.3: mechanical hand 232 actuator action, mechanical hand 232 downward actuation puts down goods；

S6.13.4: horizontal extension module action, mechanical hand 232 is retracted into initial position.

S6.14: stock puts in place judgement；It, particularly as follows: after the action frequency of mechanical hand 232 arrival setting, stock puts in place not yet, and control unit is reported to the police, and output error code " 9 ", enters fault mode Mf and also locks, jump to S8；After in the number of times of regulation, mechanical hand 232 stock puts in place, stocking pattern Mc terminates.

Preferably, in the inventory operations order that described control unit sends, inventory location information is calculated by control unit, to ensure the rotary symmetrical balance deposited in goods taking device different layers, the goods maintenance height of different directions, level, to realize intellectual access goods, minimizing equipment asymmetrical wear, increases equipment life.

It is preferred that described stocking pattern Mc has the identification of goods identity, goods identity is verified, it is ensured that goods identity, inventory location accuracy；

It is preferred that described initialization times, action frequency, identification number of times, picking number of times may be configured as 3, or the unification that needs according to application scenarios is set to other concrete numerical value or is respectively set to different numerical value.

Picking pattern is really the inverse process of above-mentioned stocking pattern, sees Fig. 4-2.Specifically can be described as:

S7: picking pattern Mq, see Fig. 4-2.Described picking pattern is specifically described as:

S7.1: enter picking pattern Mq；It is specially and judges that command context is behind picking and picking position, namely enters picking pattern Mq.

S7.2: there is judgement out of stock picking position；First described picking pattern Mq carries out picking position judgement out of stock, to verify the effectiveness of this picking position.As out of stock in this position, control unit is reported to the police, and output error code " 10 ", enters fault mode Mf and locks, jumping to S8；Be judged as in stockit is available after, picking pattern Mq enters S7.3.

S7.3: rotary goods taking device of depositing rotates；Described rotary deposit goods taking device rotate be specifically described as:

S7.3.1: picking position is rotary deposits goods taking device 3 and horizontally rotate module 31 horizontally rotate by depositing goods taking device, makes cargo location towards mechanical arm 2；

S7.3.2: deposit the rotary goods taking device 3 deposited of access section and horizontally rotate module 31 horizontally rotate by depositing goods taking device, makes to deposit the rotary goods taking device 3 cargo storage position of depositing of access section towards mechanical arm 2；

S7.4: be rotated in place judgement；It is specifically described as:

S7.4.1: depositing goods taking device by picking position and horizontally rotate count flag mechanism 314 and deposit goods taking device and horizontally rotate proximity switch 315 and judge whether the rotary goods taking device 3 of depositing in picking position horizontally rotates and put in place, whether picking position is towards mechanical arm 2.If after reaching the number of revolutions arranged, the rotary goods taking device 3 of depositing in picking position is rotated in place not yet, and control unit is reported to the police, output error code " 11-1 ", enters fault mode Mf and lock, jumping to S8.It is rotated in place in the number of times of regulation, then enters S7.4.2.

S7.4.2: depositing goods taking device and horizontally rotate count flag mechanism 314 by depositing access section and deposit goods taking device and horizontally rotate proximity switch 315 and judge to deposit whether the rotary goods taking device 3 of depositing of access section horizontally rotates and put in place, whether picking position, goods place is towards mechanical arm 2.If after reaching the number of revolutions arranged, depositing the rotary goods taking device 3 of depositing of access section and be rotated in place not yet, control unit is reported to the police, output error code " 11-2 ", enters fault mode Mf and locks, jumping to S8.It is rotated in place in the number of times of regulation, then enters S7.5.

S7.5: mechanical arm action；It is specifically described as:

S7.5.1: horizontally rotate module 21 by mechanical arm 2 and horizontally rotate, rotates mechanical arm to picking horizontal level；

S7.5.2: carry out vertical ascent by mechanical arm 2 vertical lift module 22, rises to picking upright position by mechanical arm.

S7.6: arrive and deposit access section judgement；If after mechanical arm 2 reaches the action frequency arranged, not arriving picking position yet, control unit is reported to the police, and output error code " 12 ", enters fault mode Mf and locks, jumping to S8；After in stipulated number, mechanical arm 2 arrives picking position, picking pattern Mq enters S7.7.

S7.7: goods identification；After mechanical arm 2 arrives picking position, identity recognizing unit proceeds by identification and the checking of goods identity, sees recognition methods during stock.

S7.8: recognize goods and judge；It is not particularly as follows: after identity recognizing unit reaches the identification number of times arranged, identify goods identity yet, and control unit is reported to the police, and output error code " 13 ", enters fault mode Mf and also locks, jumps to S8；After identity recognizing unit identifies goods identity, picking pattern Mq enters S7.9.

S7.9: manipulator behavior.Mechanical hand 232 action after identity recognizing unit identifies goods identity, on mechanical arm 2.It is specifically described as:

S7.9.1: horizontal extension module action, mechanical hand 232 forward extends out a segment distance, enters picking covering of the fan position directly below；

S7.9.2: mechanical hand 232 actuator action, goods is held up by mechanical hand 232 upwards action；

S7.9.3: mechanical hand 232 vertical lift module vertical motion, makees goods is held out covering of the fan；

S7.9.4: horizontal extension module action, mechanical hand 232 is retracted into initial position, is taken out from picking covering of the fan by goods.

S7.10: get goods and judge；It does not get goods after being specially the picking number of times that mechanical hand 232 reaches setting yet, and control unit is reported to the police, and output error code " 14 ", enters fault mode Mf and also locks, jumps to S8；After in stipulated number, goods got by mechanical hand 232, picking pattern Mq enters S7.11.

S7.11: mechanical arm action；Mechanical arm action is specifically described as:

S7.11.1: carry out vertical lift by mechanical arm 2 vertical lift module 22, lifts mechanical arm to depositing access section upright position.

S7.11.2: horizontally rotate module 21 by mechanical arm 2 and horizontally rotate, rotates mechanical arm to access goods saliva mean place.

S7.12: arrive and deposit access section judgement.If after reaching the action frequency arranged, not arriving yet and deposit access section, control unit is reported to the police, and output error code " 15 ", enters fault mode Mf and locks, jumping to S8；After in stipulated number, mechanical arm 2 arrives and deposits access section, picking pattern Mq enters S7.13.

S7.13: manipulator behavior；It is specially mechanical arm 2 arrive deposit access section after, mechanical hand 232 action on mechanical arm 2, to put down goods.It is specifically described as:

S6.13.1: horizontal extension module action, mechanical hand 232 forward extends out a segment distance, enters and deposits access section picking covering of the fan；

S6.13.2: mechanical hand vertical lift module down maneuver, props up goods into depositing access section picking covering of the fan；

S6.13.3: mechanical hand 232 actuator action, mechanical hand 232 downward actuation puts down goods；

S6.13.4: horizontal extension module action, mechanical hand 232 is retracted into initial position.

S7.14: picking completes to judge；After it is specially the action frequency that mechanical hand 232 arrives setting, picking completes not yet, and control unit is reported to the police, and output error code " 16 ", enters fault mode Mf and also locks, jumps to S8；After mechanical hand 232 picking completes, picking pattern Mq terminates.

Preferably, in the picking operational order that described control unit sends, picking positional information is calculated by control unit, to ensure the rotary symmetrical balance deposited in goods taking device different layers, the goods maintenance height of different directions, level, to realize intellectual access goods, minimizing equipment asymmetrical wear, increases equipment life.

It is preferred that described picking pattern Mq has the identification of goods identity, goods identity is verified, it is ensured that goods identity, picking position accuracy；

It is preferred that described initialization times, action frequency, identification number of times, picking number of times are set to 3, or the needs unification according to application scenarios is set to other concrete numerical value or is respectively set to different numerical value.

S8: fault mode.Fault mode is primarily referred to as after control unit sends operational order, but concrete actuator is failure to actuate, action is not in place, can not complete order, and namely described control unit enters fault mode Mf, now described control unit is reported to the police, output error code, enters fault mode Mf, and terminates.System needs staff to fix a breakdown and after the unblock that resets, ability enabling, and restarts flow process.

It is preferred that described control unit carries out warning can carry out sound and light alarm by display screen, sound equipment etc., or some other alarm device (such as SMS notification) informs that personnel systems breaks down.

It is preferred that after carrying out fault mode Mf, control unit locks all actuators, to protect equipment.

Preferred embodiment of the present invention is only intended to help to set forth the present invention.Preferred embodiment does not have all of details of detailed descriptionthe, is not intended to the detailed description of the invention that this invention is only described yet.Obviously, the content according to this specification, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is to explain principles of the invention and practical application better, so that skilled artisan can well utilize the present invention.The present invention is limited only by the restriction of claims and four corner thereof and equivalent.

Claims (10)

1. a rotary automatic access goods device, it is characterized in that, described device includes: system lock support and auxiliary unit (1), mechanical arm (2), rotary goods taking device (3) of depositing, and control unit, identity recognizing unit；

Wherein, system lock support and auxiliary unit (1) include outward swinging door (11), deposit access section (12), deposit goods taking device and mechanical arm positioning base (13)；

Mechanical arm (2) is arranged on system lock support and the center of auxiliary unit (1), module (21) is horizontally rotated including mechanical arm, vertical lift module (22), mechanical arm module (23), horizontally rotate module (21) be used for driving vertical lift module (22) and mechanical arm module (23) in horizontal extent just, reversion, vertical lift module (22) lifts in the vertical direction for driving mechanical arm module (23), mechanical arm module (23) stretching for mechanical hand (232), contracting, rise, drop and lift, put operation；

Rotary goods taking device (3) of depositing has multiple, arrange around mechanical arm (2), one of them is necessarily arranged on deposits access section (12) place, rotary goods taking device (3) of depositing includes depositing goods taking device and horizontally rotates module (31), deposit goods taking device positioning base (32) and deposit goods taking device (33), deposit goods taking device to horizontally rotate module (31) and just carrying out in horizontal extent for goods taking device (33) will be deposited, reversion, deposit goods taking device (33) and be divided into multilamellar, each layer is divided into again multiple access covering of the fan, each layer, each covering of the fan is respectively provided with access site coding definition, and it is both provided with cargo sensors in each covering of the fan, for transmitting the information with or without goods to control unit；

Described control unit, processes the order received and the information of sensor reception, controls the action of driving mechanism feedback processing result；

Described identity recognizing unit includes goods identification card and goods identity recognizer, and described goods identification card is pasted onto on goods packing, comprises the identity information of goods, and described goods identity recognizer is arranged on mechanical hand (232).

2. rotary automatic access goods device according to claim 1, it is characterized in that, mechanical arm horizontally rotates module (21) and includes mechanical arm vertical rod base (211), horizontal drive mechanism (212), horizontally rotate zero-bit mark mechanism (213), horizontally rotate count flag mechanism (214) and horizontally rotate proximity switch (215), mechanical arm vertical rod base (211) is arranged on to be deposited on goods taking device and mechanical arm positioning base (13), for carrying vertical lift vertical rod (221), and allow described vertical rod in the upper rotation of mechanical arm vertical rod base (211), horizontal drive mechanism (212) drives described vertical rod to rotate, described zero-bit mark mechanism (213) that horizontally rotates horizontally rotates the judgement of module (21) original position by carrying out mechanical arm with the effect horizontally rotating proximity switch (215), the described count flag mechanism (214) that horizontally rotates horizontally rotates the judgement of module (21) anglec of rotation by carrying out mechanical arm with the effect horizontally rotating proximity switch (215).

3. rotary automatic access goods device according to claim 1 and 2, it is characterized in that, described vertical lift module (22) includes vertical lift vertical rod (221), sprocket wheel (222), vertical lift chain (223), vertical lift driving mechanism (224), vertical lift balancing weight (225), vertical lift zero-bit mark mechanism, vertical lift count flag mechanism and vertical lift proximity switch, described sprocket wheel (222) is arranged on the top of described vertical rod, vertical lift chain (223) engages with described sprocket wheel (222), one end of chain is fixing connects mechanical arm module (23), the other end is connected to vertical lift balancing weight (225), vertical lift driving mechanism (224) drives described sprocket wheel (222) to rotate thus realizing the descending operation of mechanical arm module (23), vertical lift zero-bit mark mechanism by carrying out the judgement of vertical lift module (22) lifting original position with the effect of vertical lift proximity switch, vertical lift count flag mechanism by carrying out the judgement of vertical lift module (22) adjustable height with the effect of vertical lift proximity switch.

4. rotary automatic access goods device according to claim 1 and 2, it is characterized in that, described mechanical arm module (23) includes horizontal support arms (231), mechanical hand (232), mechanical arm drive mechanism (233), mechanical hand vertical lift module (234), mechanical hand horizontal extension module (235), horizontal support arms (231) one end is connected to vertical lift chain (223), mechanical hand (232) is fixedly connected on the other end of horizontal support arms (231), mechanical arm drive mechanism (233) drives described mechanical hand (232) action, mechanical hand vertical lift module (234) vertical-lifting mechanical hands (232) within the scope of covering of the fan, mechanical hand horizontal extension module (235) horizontal extension mechanical hand (232) in little scope.

5. rotary automatic access goods device according to claim 1, it is characterized in that, described goods taking device of depositing horizontally rotates module (31) and includes depositing goods taking device mounting seat (311), deposit goods taking device horizontal drive mechanism (312), deposit goods taking device and horizontally rotate zero-bit mark mechanism (313), deposit goods taking device horizontally rotate count flag mechanism (314) and deposit goods taking device and horizontally rotate proximity switch (315), deposit goods taking device mounting seat (311) to be arranged on and deposit on goods taking device positioning base (32), goods taking device (33) is deposited for carrying, and deposit goods taking device (33) and rotate thereon described in allowing, deposit goods taking device horizontal drive mechanism (312) drive and deposit goods taking device (33) rotation, deposit goods taking device and horizontally rotate zero-bit mark mechanism (313) by carrying out the judgement of original position with the effect horizontally rotating proximity switch (315), deposit goods taking device and horizontally rotate count flag mechanism (314) by rotating the judgement of angle with the effect horizontally rotating proximity switch (315).

6. the rotary automatic access goods device according to claim 1 or 2 or 5, it is characterised in that multiple described rotary deposit goods taking device (3) equidistant, angularly, symmetrical be distributed in described mechanical arm (2) around.

7. the automatic access pallet piling up method to the described device of one of claim 1-6, it is characterised in that described method includes initialization pattern, stocking pattern, picking pattern and four kinds of control models of fault mode, and control unit realizes the control of whole action.

8. automatic access pallet piling up method according to claim 7, it is characterised in that described initialization pattern comprises the steps:

S1: system model judges, it is judged that whether system model is fault mode,

If system model is judged as fault mode, control unit is reported to the police, and enters fault mode and locks；

If system model is not fault mode, then enter step S2；

S2: system initialization, armamentarium is carried out initialization operation, whole actuator zero setting by control unit；

S3: initialized judgement, one initialization times of default, if after reaching the initialization times arranged, system initialization remains unfulfilled, and control unit is reported to the police, enters fault mode and locks, if system initialization completes, then entering S4；

S4: control unit receives system command, command context includes depositing, withdrawing operation, and deposits, withdraws goods positional information；

S5: control unit judges that command context is stock or picking, and read and deposit, withdraw goods positional information accordingly, if order is for stock, then enter stocking pattern, if order is picking, then enter picking pattern.

9. the automatic access pallet piling up method according to claim 7 or 8, it is characterised in that described stocking pattern comprises the steps:

S6.1: enter stocking pattern；

S6.2: inventory location has judgement out of stock, as this position is in stockit is available, control unit is reported to the police, and enters fault mode and locks, as out of stock in this position, then enter S6.3；

S6.3: rotary goods taking device of depositing rotates, and is specifically described as:

S6.3.1: deposit the rotary goods taking device of depositing of access section and horizontally rotate module horizontally rotate by depositing goods taking device, makes inventory location towards mechanical arm；

S6.3.2: access site is rotary to be deposited goods taking device and horizontally rotate module horizontally rotate by depositing goods taking device, makes cargo location towards mechanical arm (2)；

S6.4: be rotated in place judgement, is specifically described as:

S6.4.1: deposit goods taking device and horizontally rotate count flag mechanism by depositing access section and deposit goods taking device and horizontally rotate proximity switch and judge to deposit whether the rotary goods taking device of depositing of access section horizontally rotates and put in place, whether goods place inventory location is towards mechanical arm, if after reaching the number of revolutions arranged, deposit the rotary goods taking device of depositing of access section to be rotated in place not yet, control unit is reported to the police, enter fault mode and lock, if stipulated number internal memory access section is deposited goods taking device and is rotated in place, then enter S6.4.2；

S6.4.2: deposit goods taking device by inventory location and horizontally rotate count flag mechanism and deposit goods taking device and horizontally rotate proximity switch and judge whether the rotary goods taking device of depositing of inventory location horizontally rotates and put in place, whether inventory location is towards mechanical arm, if after reaching the number of revolutions arranged, the rotary goods taking device of depositing of inventory location is rotated in place not yet, control unit is reported to the police, enter fault mode and lock, if the rotary goods taking device of depositing of inventory location is rotated in place in stipulated number, then enter S6.5；

S6.5: mechanical arm action:

S6.5.1: horizontally rotate module by mechanical arm and horizontally rotate, rotates mechanical arm to access goods saliva mean place direction；

S6.5.2: carry out vertical ascent by mechanical arm vertical lift module, rises to mechanical arm and deposits access section upright position；

S6.6: arrive and deposit access section and judge: if after mechanical arm reaches the action frequency set, arriving yet and deposit access section, control unit is reported to the police, and enters fault mode and also locks, if mechanical arm arrives and deposits access section in the number of times of regulation, enters S6.7；

S6.7: goods identification；Mechanical arm arrives after depositing access section, and identity recognizing unit proceeds by identification and the checking of goods identity；

S6.8: recognize goods and judge: whether sensed by the identification card on goods and the identity recognizer on mechanical hand and be identified, if after reaching the identification number of times set, do not identify goods identity yet, then control unit is reported to the police, enter fault mode and lock, if identifying goods identity in stipulated number, enter S6.9；

S6.9: manipulator behavior:

S6.9.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters immediately below picking covering of the fan；

S6.9.2: mechanical hand actuator action, goods is held up by mechanical hand upwards action；

S6.9.3: mechanical hand vertical lift module vertical motion, holds out covering of the fan by goods；

S6.9.4: horizontal extension module action, mechanical hand (232) is retracted into initial position, is taken out from picking covering of the fan by goods；

S6.10: get goods and judge: mechanical hand does not get goods after reaching the picking number of times set yet, and control unit is reported to the police, enter fault mode and lock, if goods got by mechanical hand, stocking pattern enters S6.11；

S6.11: mechanical arm reoperates:

S6.11.1: carry out vertical lift by mechanical arm vertical lift module, by the upright position of mechanical arm lifting to stock；

S6.11.2: horizontally rotate module by mechanical arm and horizontally rotate, rotates the horizontal level to stock by mechanical arm；

S6.12: arrive inventory location and judge: if after reaching the action frequency arranged, not arriving inventory location yet, control unit is reported to the police, enter fault mode and lock, if mechanical arm arrives inventory location in stipulated number, stocking pattern enters S6.13；

S6.13: manipulator behavior: after mechanical arm arrives inventory location, the manipulator behavior on mechanical arm, to put down goods, particularly as follows:

S6.13.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters stock covering of the fan；

S6.13.2: mechanical hand vertical lift module down maneuver, puts goods into covering of the fan；

S6.13.3: mechanical hand actuator action, mechanical hand downward actuation puts down goods；

S6.13.4: horizontal extension module action, mechanical hand is retracted into initial position；

S6.14: stock puts in place judgement: after mechanical hand arrives the action frequency set, stock puts in place not yet, and control unit is reported to the police, enters fault mode and also locks, it is stipulated that number of times in after mechanical hand stock puts in place, stocking pattern terminates.

10. the automatic access pallet piling up method according to claim 7 or 8, it is characterised in that described picking pattern comprises the steps:

S7.1: system enters picking pattern；

S7.2: there is judgement out of stock picking position, as out of stock in this position, control unit is reported to the police, and enters fault mode and locks, it is judged that after in stockit is available, and picking pattern enters S7.3；

S7.3: rotary goods taking device of depositing rotates, and is specifically described as:

S7.3.1: picking position is rotary deposits goods taking device and horizontally rotate module horizontally rotate by depositing goods taking device, makes cargo location towards mechanical arm；

S7.3.2: deposit the rotary goods taking device of depositing of access section and horizontally rotate module horizontally rotate by depositing goods taking device, makes to deposit the rotary goods taking device cargo storage position of depositing of access section towards mechanical arm；

S7.4: be rotated in place judgement:

S7.4.1: deposit goods taking device by picking position and horizontally rotate count flag mechanism and deposit goods taking device and horizontally rotate proximity switch and judge whether the rotary goods taking device of depositing in picking position horizontally rotates and put in place, whether picking position is towards mechanical arm, if after reaching the number of revolutions arranged, the rotary goods taking device of depositing in picking position is rotated in place not yet, control unit is reported to the police, enter fault mode also to lock, it is stipulated that number of times in be rotated in place, then enter S7.4.2；

S7.4.2: deposit goods taking device and horizontally rotate count flag mechanism by depositing access section and deposit goods taking device and horizontally rotate proximity switch and judge to deposit whether the rotary goods taking device of depositing of access section horizontally rotates and put in place, whether picking position, goods place is towards mechanical arm, if after reaching the number of revolutions arranged, deposit the rotary goods taking device of depositing of access section to be rotated in place not yet, control unit is reported to the police, enter fault mode also to lock, it is stipulated that number of times in be rotated in place, then enter S7.5；

S7.5: mechanical arm action:

S7.5.1: horizontally rotate module by mechanical arm and horizontally rotate, rotates mechanical arm to picking horizontal level；

S7.5.2: carry out vertical ascent by mechanical arm vertical lift module, rises to picking upright position by mechanical arm；

S7.6: arrive and deposit access section and judge: if after mechanical arm reaches the action frequency arranged, arriving picking position yet, control unit is reported to the police, and enters fault mode and also locks, it is stipulated that after mechanical arm arrives picking position in number of times, and picking pattern enters S7.7；

S7.7: goods identification: after mechanical arm arrives picking position, identity recognizing unit proceeds by identification and the checking of goods identity；

S7.8: recognize goods and judge: identity recognizing unit does not identify goods identity after reaching the identification number of times arranged yet, and control unit is reported to the police, enter fault mode and lock, after identity recognizing unit identifies goods identity, picking pattern enters S7.9；

S7.9: manipulator behavior:

S7.9.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters picking covering of the fan position directly below；

S7.9.2: mechanical hand actuator action, goods is held up by mechanical hand upwards action；

S7.9.3: mechanical hand vertical lift module does vertical motion, and goods is held out covering of the fan；

S7.9.4: horizontal extension module action, mechanical hand is retracted into initial position, is taken out from picking covering of the fan by goods；

S7.10: getting goods and judge: mechanical hand does not get goods after reaching the picking number of times arranged yet, and control unit is reported to the police, enter fault mode and lock, it is stipulated that after goods got by mechanical hand in number of times, picking pattern enters S7.11；

S7.11: mechanical arm action:

S7.11.1: carry out vertical lift by mechanical arm vertical lift module, lifts mechanical arm to depositing access section upright position；

S7.11.2: horizontally rotate module by mechanical arm and horizontally rotate, rotates mechanical arm to access goods saliva mean place；

S7.12: arrive and deposit access section judgement: if after reaching the action frequency arranged, arrives yet and deposits access section, and control unit is reported to the police, and enters fault mode and also locks, it is stipulated that after in number of times, mechanical arm arrives and deposits access section, entrance picking pattern；

S7.13: manipulator behavior:

S6.13.1: horizontal extension module action, mechanical hand forward extends out a segment distance, enters and deposits access section picking covering of the fan；

S6.13.2: mechanical hand vertical lift module down maneuver, props up goods into depositing access section picking covering of the fan；

S6.13.3: mechanical hand actuator action, mechanical hand downward actuation puts down goods；

S6.13.4: horizontal extension module action, mechanical hand returns to initial position；

S7.14: picking completes to judge: after mechanical hand arrives the action frequency arranged, picking completes not yet, and control unit is reported to the police, and enters fault mode and locks, and after mechanical hand picking completes, picking pattern terminates.