CN108657716A - A kind of domestic intelligent warehouse management system and method - Google Patents
A kind of domestic intelligent warehouse management system and method Download PDFInfo
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- CN108657716A CN108657716A CN201810694256.5A CN201810694256A CN108657716A CN 108657716 A CN108657716 A CN 108657716A CN 201810694256 A CN201810694256 A CN 201810694256A CN 108657716 A CN108657716 A CN 108657716A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
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- Warehouses Or Storage Devices (AREA)
Abstract
A kind of domestic intelligent warehouse management system, including cabin and device chassis, cabin are located on device chassis；It is additionally provided with transmission mechanism, grasping mechanism and control mechanism.A kind of domestic intelligent warehouse management method is based on above-mentioned domestic intelligent management system, including operates as follows：User is keyed in by stand-alone keypad and is ordered, and the position difference of grasping mechanism and target bin box is calculated；By position difference, the corresponding direct torque order of system output, until grasping mechanism and target location difference are zero；After grasping mechanism completes grasping movement, target bin box is moved to new target location；It waits for user to key in new operational order, and repeats the above process.Traditional complicated cargo grasping mechanism is reduced to crawl platform by the present invention, and complicated grasping movement is realized with the space movement of platform.The present invention is suitable for family's storing field, so that storehouse management is more convenient, it is easier to manage high-volume article.
Description
Technical field
The present invention relates to storehouse management technical fields, and in particular to a kind of domestic intelligent warehouse management system and method.
Background technology
The extensive cargo that traditional storehouse management is mainly directed towards large enterprise stores, and the machinery in Warehouse Management System
Mechanism is limited by factors such as space, noise, costs, is not particularly suited for small-sized storage art, is not particularly suitable in family housing
In install and use.With the continuous improvement of living standard, the public demand to home depot management highlights gradually.In family
Storehouse management application scenario, proposes storehouse management that miniaturization, mechanical structure is succinct, mechanism is compact, access efficiency is high, noise
The requirements such as low, low in energy consumption, mobile control accuracy height.
Invention content
In order to meet above-mentioned requirements, a kind of domestic intelligent warehouse management system of present invention offer and method.
The present invention is achieved by the following technical solutions：
A kind of domestic intelligent warehouse management system, including cabin and device chassis, the cabin are located at described device chassis
On, the cabin is equipped with several cabin units, and each cabin unit is for one storehouse box of corresponding storage.
The domestic intelligent warehouse management system is additionally provided with transmission mechanism, grasping mechanism, control mechanism and ranging baffle, institute
The edge that ranging baffle is located at described device chassis is stated, and is connected with the cabin；The transmission mechanism is described for controlling
Grasping mechanism is moved upwards in the X, Y, Z axis side of three-dimensional system of coordinate, and the grasping mechanism is for capturing corresponding position cabin unit
The storehouse box of interior storage；The control mechanism is used to control the work of the transmission mechanism and grasping mechanism；The cabin and three-dimensional
The horizontal X axis direction of coordinate system is parallel, and the opening direction of each cabin unit is consistent with the horizontal Y direction of three-dimensional system of coordinate.
The transmission mechanism includes horizontal drive mechanism and vertical transmission mechanism, the horizontal drive mechanism and vertically transmission
A stepper motor is set in mechanism respectively；The vertical transmission mechanism is matched with the horizontal drive mechanism, the horizontal biography
Motivation structure drives linear movement of the vertical transmission mechanism in the horizontal X axis direction of three-dimensional system of coordinate.
The grasping mechanism includes the holder III of U-shaped, sliding block III, crawl platform and driving motor, the holder III with
The sliding block III is matched, and the horizontal Y direction that the sliding block III can be along three-dimensional system of coordinate in the holder III does straight line
It is mobile；The crawl platform is fixed on the top of the sliding block III；The grasping mechanism further includes two distance measuring sensors, and one
A distance measuring sensor is used to perceive the vertical distance between the crawl platform and described device chassis, another distance measuring sensor
For perceiving the horizontal distance between the crawl platform and the ranging baffle.
The grasping mechanism is matched with the vertical transmission mechanism, and the vertical transmission mechanism drives the grasping mechanism
It moves linearly in the vertical Z-direction of three-dimensional system of coordinate.
When work, the control mechanism controls stepper motor, distance measuring sensor and the drive according to the work order of input
The work of dynamic motor；The horizontal drive mechanism drives the vertical transmission mechanism in the horizontal X axis direction of three-dimensional system of coordinate
It moves linearly, the vertical transmission mechanism drives the grasping mechanism to do straight line in the vertical Z-direction of three-dimensional system of coordinate
It moves, the crawl platform in the grasping mechanism moves in a straight line in the horizontal Y direction of three-dimensional system of coordinate；And then it is real
Crawl and movement of the existing crawl platform to the storehouse box.
Scheme as an optimization, the storehouse box are open box body shape, and two opposition sides in four sides are prolonged vertically downward
Extension is stretched out, the height of the extension is identical as two profile heights not extended, shape between two sides not extended
At interspacing in advance.
The crawl platform is plate-like, and the crawl platform is equipped with crawl front end；It narrows the front of the crawl front end
Trapezoidal plate, the crawl front top are equipped with a pair of spacing block set being mutually parallel, one are formed between two spacing block sets
Limiting slot；The bottom of the limiting slot and the storehouse box matches.
Scheme as an optimization, horizontal drive mechanism include the holder I and slider I of U-shaped, and slider I passes through two slide bars I and one
Root worm screw I limits between two sides of holder I, and holder I, slide bar I and worm screw I are in horizontally disposed, and holder I is across being fixed on
On the surface on device chassis；
Vertical transmission mechanism includes the holder II and sliding block II of U-shaped, and sliding block II passes through two slide bars II and a worm screw II
Limit is between two sides of holder II, and holder II, slide bar II and worm screw II are arranged vertically, and holder II is fixed on slider I
Top surface on；
Each stepper motor is connect by shaft coupling with worm screw I, worm screw II respectively.
Scheme as an optimization, sliding block III is by two slide bar III and a worm screw III limit in two sides of holder III
Between face, holder III, slide bar III and worm screw III are in horizontally disposed, and grasping mechanism is fixed on vertical biography by L-shaped connecting plate
On motivation structure：The horizontal component of holder III is fixed on the horizontal component of connecting plate, and the vertical portion of connecting plate is fixed on sliding block
On II；Driving motor is fixed on holder III close to the side of connecting plate, and worm screw III is connect by shaft coupling with driving motor.
Scheme as an optimization, control mechanism include display device, stand-alone keypad, microprocessor, storage unit and voltage stabilizing mould
Block；Microprocessor connects with stepper motor, display device, stand-alone keypad, storage unit, distance measuring sensor and driving motor communication
It connects；Voltage stabilizing module stablizes output stable DC voltage, is stepper motor, control mechanism, distance measuring sensor and driving motor power supply.
A kind of domestic intelligent management system in domestic intelligent warehouse, including operate as follows：
Step S101, control mechanism calculate the position difference I between target bin box and grasping mechanism according to control command；
Step S102, control mechanism export corresponding direct torque order, stepper motor and driving according to position difference I
Motor executes direct torque order, and constantly recycles the process, until position difference I is zero, the control of control mechanism output torque
Order is sky, and grasping mechanism reaches target location；
Step S103, grasping mechanism execute grasping movement, capture target bin box；
Step S104, control mechanism calculate the position difference II between target bin box and region of taking according to control command；
Step S105, control mechanism export corresponding direct torque order, stepper motor and driving according to position difference II
Motor executes direct torque order, and constantly recycles the process, until position difference is zero, control mechanism output torque control life
It enables to be empty, grasping mechanism reaches region of taking, and target bin box is taken；
Step S106, control mechanism wait for new control command, repeat the above process.
Scheme as an optimization, in step S101, user keys in order, and microprocessor is connect by stand-alone keypad and display device
Control command is received, and generates the information of target bin box；The Card read/write of target bin box to storage unit is obtained mesh by microprocessor
The position of storehouse box, while the back information of microcomputer reads distance measuring sensor are marked, the position of grasping mechanism is obtained；Microprocessor
Calculate the position difference I between target bin box and grasping mechanism.
Scheme as an optimization, in step S101, storage unit is used to record the storage information of each storehouse box in warehouse, stores
Information includes Description of Goods, access date record, access quantity records and other are for user-defined goods information.
Scheme as an optimization, in step S103, the detailed process that grasping mechanism executes grasping movement is：Capture platform movement
Gap is reserved to the lower section of target bin box, and target bin box is made to be located between two limiting slots on crawl platform；Sliding block II
Crawl platform is driven upwards to lift target bin box, sliding block III drives crawl platform to haul out target bin box.
Beneficial effects of the present invention include：
1. traditional complicated cargo grasping mechanism is reduced to crawl platform by the present invention, realized with the space movement of platform multiple
Miscellaneous grasping movement.In grasping mechanism moving process, two below grasping mechanism distance measuring sensors are assemblied in perceive
Grasping mechanism current location, microprocessor pass through the displacement between the current location obtained by sensor and the position of target bin box
Departure realizes that position is approached by algorithm, to realize accurate movement control, is captured using step motor control in practical control
The spatial position of mechanism.Structure of the invention compact, is easy to implement, and reproducibility is strong, and power is small, low noise, and precision is high.This
Efficient access action can be achieved in invention, and realizes intelligent recording status and management to article in warehouse, and with close friend
Human-computer interaction interface facilitate daily management.The present invention is more easy to suitable for family's storing field so that storehouse management is more convenient
In management high-volume article.
2. the present invention has also been devised special storage device and is managed inquiry to goods information to user, user can be certainly
Definition can manage the data information that cabin corresponds to cargo automatically per the indoor cargo attribute in cabin, system.
3. placed the limiting slot with storehouse box equivalent width on platform, when avoiding repeating to take storehouse box, the position of storehouse box is caused
It sets and changes.
Description of the drawings
Fig. 1 is overall structure of the present invention.
Fig. 2 is the front view of servo mechanism of the present invention.
Fig. 3 is the structural schematic diagram of grasping mechanism and connecting plate.
Fig. 4 is the structural schematic diagram of storehouse box.
Fig. 5 is logical flow chart of the present invention.
In all the appended drawings, identical reference numeral is used for indicating identical element or structure, wherein：
The cabins 1-, the storehouses 11- box, 111- extensions, 2- devices chassis, 3- transmission mechanisms, 31- horizontal drive mechanisms, 311-
Holder I, 312- slider Is, 313- slide bars I, 314- worm screws I, the vertical transmission mechanisms of 32-, 321- holders II, 322- sliding blocks II,
323- slide bars II, 324- worm screws II, 33- stepper motors, 4- connecting plates, 5- control mechanisms, 51- display devices, 52- independent keys
Disk, 53- microprocessors, 54- storage units, 55- Voltage stabilizing modules, 6- grasping mechanisms, 61- holders III, 62- sliding block III, 63- are grabbed
It makes even platform, 631- captures front end, 64- slide bars III, 65- worm screw III, 7- distance measuring sensor, 8- driving motors, 9- ranging baffles.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are only used to explain the present invention,
It is not intended to limit the present invention.
Embodiment one：
A kind of domestic intelligent warehouse management system, as shown in Figure 1, including cabin 1 and device chassis 2, cabin 1 is located at device
On chassis 2, the cabin 1 is equipped in several cabin unit the present embodiment as 12 cabin units of 4 × 3 arrangements, each cabin
Chamber unit is for one storehouse box 11 of corresponding storage；As shown in figure 4, storehouse box 11 is open box body shape, two in four sides are right
Extension 111 is extended in vertical side vertically downward, and the height of extension 111 is identical as two profile heights not extended, does not prolong
It is formed between two sides stretched and is interspaced in advance.
As shown in Figure 1, domestic intelligent warehouse management system is additionally provided with transmission mechanism 3, grasping mechanism 6, control mechanism 5 and surveys
Away from baffle 9, ranging baffle 9 is located at the edge on device chassis 2, and connects with cabin 1.The transmission mechanism 3 is for controlling institute
It states grasping mechanism 6 to move upwards in the X, Y, Z axis side of three-dimensional system of coordinate, the grasping mechanism 6 is for capturing corresponding position cabin
The storehouse box 11 of element memory storage；The control mechanism 5 is used to control the work of the transmission mechanism 3 and grasping mechanism 6；The cabin
Room 1 is parallel with the horizontal X axis direction of three-dimensional system of coordinate, the opening direction of each cabin unit and the horizontal Y-axis of three-dimensional system of coordinate
Direction is consistent.
As shown in Fig. 2, transmission mechanism 3 includes horizontal drive mechanism 31 and vertical transmission mechanism 32, vertical transmission mechanism 32
It is fixed on horizontal drive mechanism 31, sets a stepper motor 33 on horizontal drive mechanism 31 and vertical transmission mechanism 32 respectively.
The vertical transmission mechanism 32 is matched with the horizontal drive mechanism 31, and the horizontal drive mechanism 31 drives the vertical biography
Linear movement of the motivation structure 32 in the horizontal X axis direction of three-dimensional system of coordinate.Horizontal drive mechanism 31 includes the holder I 311 of U-shaped
With slider I 312, slider I 312 by two slide bars I 313 and the limit of worm screw I 314 two sides of holder I 311 it
Between, holder I 311, slide bar I 313 and worm screw I 314 are in horizontally disposed, and holder I 311 is on the surface for being fixed on device chassis 2；
Vertical transmission mechanism 32 includes the holder II 321 and sliding block II 322 of U-shaped, and sliding block II 322 passes through two slide bars II 323 and one
Worm screw II 324 limits between two sides of holder II 321, and holder II 321, slide bar II 323 and worm screw II 324 are in vertical cloth
It sets, one end on II 321 length direction of holder is fixed on the top surface of slider I 312；Each stepper motor 33 passes through shaft coupling respectively
Device is connect with worm screw I 314, worm screw II 324.Stepper motor 33 is 42 stepper motors.
As shown in figure 3, grasping mechanism 6 includes the holder III 61, sliding block III 62, crawl platform 63 of U-shaped, and driving electricity
Machine 8, the holder III61 are matched with the sliding block III62, and sliding block III 62 can be sat in the holder III61 along three-dimensional
The horizontal Y direction of mark system moves linearly；Crawl platform 63 is fixed on the top of sliding block III 62；It is also set on grasping mechanism 6
There are two distance measuring sensor 7 and driving motors 8, and a distance measuring sensor 7 is for perceiving between crawl platform 63 and device chassis 2
Vertical distance, another distance measuring sensor 7 is used to perceive the horizontal distance captured between platform 63 and ranging baffle 9；Sliding block
III 62 is limited by two slide bar III 64 and a worm screw III 65 between two sides of holder III61, holder III
61, slide bar III 64 and worm screw III 65 is in horizontally disposed, and grasping mechanism 6 is fixed on vertical driver by L-shaped connecting plate 4
On structure 32：The horizontal component of holder III 61 is fixed on the horizontal component of connecting plate 4, and the vertical portion of connecting plate 4 is fixed on
On sliding block II 322；Driving motor 8 is fixed on holder III 61 close to the side of connecting plate 4, worm screw III 65 by shaft coupling with
Driving motor 8 connects.Driving motor 8 is 24BYJ48 decelerating step motors, and distance measuring sensor 7 passes for GP2Y0A02YK0F rangings
Sensor.
It is plate-like to capture platform 63, crawl platform 63 is equipped with crawl front end 631；The front of crawl front end 631, which is narrowed, is in
Trapezoidal plate, 631 top of crawl front end are equipped with a pair of spacing block set 632 being mutually parallel, are formed between two spacing block sets 632
One limiting slot；The bottom of limiting slot and storehouse box 11 matches.
Grasping mechanism 6 is fixed on vertical transmission mechanism 32, and the grasping mechanism 6 matches with the vertical transmission mechanism 32
It closes, the vertical transmission mechanism 32 drives the grasping mechanism 6 to move linearly in the vertical Z-direction of three-dimensional system of coordinate.
In use, horizontal drive mechanism 31 can make grasping mechanism 6 along the horizontal motion for being parallel to cabin 1, vertical transmission mechanism
32 can make grasping mechanism 6 vertically moving, and sliding block III62 drives crawl platform 63 along the level side perpendicular to cabin 2
To movement；
The control command that control mechanism 5 is keyed according to outside, control stepper motor 33, distance measuring sensor 7 and driving motor 8
Work, and then realize crawl and movement to storehouse box 11.
Control mechanism 5 includes display device 51, stand-alone keypad 52, microprocessor 53, storage unit 54 and Voltage stabilizing module 55；
Microprocessor 53 and stepper motor 33, display device 51, stand-alone keypad 52, storage unit 54, distance measuring sensor 7 and driving motor
8 communication connections；Voltage stabilizing module 55 stablizes output stable DC voltage, is stepper motor 33, control mechanism 5,7 and of distance measuring sensor
Driving motor 8 is powered.Display device 51 is C320240B-V4.0 display modules, and stand-alone keypad 52 is that TELESKY4 multiplies 4 Thin-film key
Disk, microprocessor 53 are Arduino Mega2560R3 microprocessors, and storage unit 54 stores for SDSDXXG-032G-ZN4IN
Card, Voltage stabilizing module 55 are S-250-12 regulated power supplies and LM2596-ADJ multichannel adjustable output electric powers.
When work, the control mechanism 5 controls stepper motor 33, distance measuring sensor 7 and institute according to the work order of input
State the work of driving motor 8；The horizontal drive mechanism 31 drives the vertical transmission mechanism 32 in the horizontal X of three-dimensional system of coordinate
It moves linearly in axis direction, the vertical transmission mechanism 32 drives the grasping mechanism 6 in the vertical Z axis side of three-dimensional system of coordinate
It moves in a straight line upwards, the crawl platform 63 in the grasping mechanism 6 is done directly in the horizontal Y direction of three-dimensional system of coordinate
Line moves；And then realize crawl and movement of the crawl platform 63 to the storehouse box 11.
Traditional complicated cargo grasping mechanism is reduced to crawl platform by the present invention, is realized with the space movement of platform complicated
Grasping movement.In grasping mechanism moving process, it is assemblied in two below grasping mechanism distance measuring sensors and is grabbed to perceive
Take mechanism current location, microprocessor inclined by the displacement between the current location obtained by sensor and the position of target bin box
Residual quantity realizes that position is approached by algorithm, and to realize accurate movement control, step motor control gripper is used in practical control
The spatial position of structure.Structure of the invention compact, is easy to implement, and reproducibility is strong, and power is small, low noise, and precision is high.
Embodiment two
A kind of domestic intelligent warehouse management method, based on the domestic intelligent management system of embodiment one, as shown in figure 5, packet
Include following operation：
In step S101, step S101, user keys in order, and microprocessor 53 passes through stand-alone keypad 52 and display device 51
The control command that user keys in is received, and generates the information of target bin box；Microprocessor 53 by the Card read/write of target bin box extremely
Storage unit 54 obtains the position of target bin box, while microprocessor 53 reads the back information of distance measuring sensor 7, is grabbed
Take the position of mechanism 6；Microprocessor 53 calculates the position difference I between target bin box and grasping mechanism 6.Storage unit 54 is used for
The storage information of each storehouse box 11 in warehouse is recorded, storage information includes Description of Goods, access date record, access quantity record
And other are for user-defined goods information；
Step S102, control mechanism 5 export corresponding direct torque order, stepper motor 33 and drive according to position difference I
Dynamic motor 8 executes direct torque order, and constantly recycles the process, until position difference I is zero, 5 output torque of control mechanism
Control command is sky, and grasping mechanism 6 reaches target location；
Step S103, grasping mechanism 6 execute grasping movement, capture target bin box；Grasping mechanism 6 executes the tool of grasping movement
Body process is：Gap is reserved in the lower section that crawl platform 63 moves to target bin box, and target bin box is made to be located at crawl platform 63
On two limiting slots between；Sliding block II 322 drives crawl platform 63 upwards to lift target bin box, and sliding block III 62 drives institute
Crawl platform 63 is stated to haul out target bin box；
Step S104, control mechanism 5 calculate the position difference II between target bin box and region of taking according to control command；
Step S105, control mechanism 5 export corresponding direct torque order, 33 He of stepper motor according to position difference II
Driving motor 8 executes direct torque order, and constantly recycles the process, until position difference is zero, 5 output torque of control mechanism
Control command is sky, and grasping mechanism 6 reaches region of taking, and target bin box is taken；
Step S106, control mechanism 5 wait for new control command, repeat the above process.
Efficient access action can be achieved in the present invention, and realizes intelligent recording status and management to article in warehouse,
And facilitate daily management with friendly human-computer interaction interface.The present invention is suitable for family's storing field, so that storehouse management
It is more convenient, it is easier to manage high-volume article.
The present invention has also been devised special storage device and is managed inquiry to goods information to user, and user can make by oneself
Justice can manage the data information that cabin corresponds to cargo automatically per the indoor cargo attribute in cabin, system.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of domestic intelligent warehouse management system, including cabin (1) and device chassis (2), the cabin (1) are located at the dress
On bottom set disk (2), the cabin (1) is equipped with several cabin units, and each cabin unit is for one storehouse box of corresponding storage
(11)；It is characterized in that：
The domestic intelligent warehouse management system is additionally provided with transmission mechanism (3), grasping mechanism (6), control mechanism (5) and ranging gear
Plate (9), the ranging baffle (9) is located at the edge on described device chassis (2), and connects with the cabin (1)；The transmission
Mechanism (3) is moved upwards for controlling the grasping mechanism (6) in the X, Y, Z axis side of three-dimensional system of coordinate, the grasping mechanism (6)
For capturing the storehouse box (11) stored in the cabin unit of corresponding position；The control mechanism (5) is for controlling the transmission mechanism
(3) and the work of grasping mechanism (6)；The cabin (1) is parallel with the horizontal X axis direction of three-dimensional system of coordinate, each cabin unit
Opening direction it is consistent with the horizontal Y direction of three-dimensional system of coordinate；
The transmission mechanism (3) includes horizontal drive mechanism (31) and vertical transmission mechanism (32), the horizontal drive mechanism
(31) and on vertical transmission mechanism (32) stepper motor (33) is set respectively；The vertical transmission mechanism (32) and the level
Transmission mechanism (31) matches, and the horizontal drive mechanism (31) drives the vertical transmission mechanism (32) in three-dimensional system of coordinate
Linear movement in horizontal X axis direction；
The grasping mechanism (6) includes holder III (61), sliding block III (62), crawl platform (63) and the driving motor of U-shaped
(8), the holder III (61) matches with the sliding block III (62), and the sliding block III (62) can be in the holder III (61)
The interior horizontal Y direction along three-dimensional system of coordinate moves linearly；The crawl platform (63) is fixed on the sliding block III (62)
Top；The grasping mechanism (6) further includes two distance measuring sensors (7), and a distance measuring sensor (7) is for perceiving the crawl
Vertical distance between platform (63) and described device chassis (2), another distance measuring sensor (7) are flat for perceiving the crawl
Horizontal distance between platform (63) and the ranging baffle (9)；
The grasping mechanism (6) matches with the vertical transmission mechanism (32), described in vertical transmission mechanism (32) driving
Grasping mechanism (6) moves linearly in the vertical Z-direction of three-dimensional system of coordinate；
When work, the control mechanism (5) according to the work order of input control stepper motor (33), distance measuring sensor (7) and
The work of the driving motor (8)；The horizontal drive mechanism (31) drives the vertical transmission mechanism (32) in three-dimensional coordinate
It moves linearly in the horizontal X axis direction of system, the vertical transmission mechanism (32) drives the grasping mechanism (6) in three-dimensional coordinate
It is moved in a straight line in the vertical Z-direction of system, the crawl platform (63) in the grasping mechanism (6) is in three-dimensional system of coordinate
It is moved in a straight line in horizontal Y direction；And then realize crawl and movement of the crawl platform (63) to the storehouse box (11).
2. domestic intelligent warehouse management system according to claim 1, it is characterised in that：The storehouse box (11) is open box
Extension (111), the height of the extension (111) are extended in body shape, two opposition sides in four sides vertically downward
It is identical as two profile heights not extended, it is formed between two sides not extended and is interspaced in advance；
The crawl platform (63) is plate-like, and the crawl platform (63) is equipped with crawl front end (631)；The crawl front end
(631) trapezoidal plate is narrowed in front, and a pair of spacing block set being mutually parallel is equipped at the top of crawl front end (631)
(632), a limiting slot is formed between two spacing block sets (632)；The limiting slot and the bottom of the storehouse box (11) match.
3. domestic intelligent warehouse management system according to claim 1, it is characterised in that：
The horizontal drive mechanism (31) includes the holder I (311) and slider I (312) of U-shaped, and the slider I (312) passes through two
Root slide bar I (313) and worm screw I (314) limit are between two sides of the holder I (311), the holder I
(311), slide bar I (313) and worm screw I (314) be in horizontally disposed, and the holder I (311) is across being fixed on described device chassis
(2) on surface；
The vertical transmission mechanism (32) includes the holder II (321) and sliding block II (322) of U-shaped, and the sliding block II (322) passes through
Two slide bars II (323) and worm screw II (324) limit are between two sides of the holder II (321), the holder
II (321), slide bar II (323) and worm screw II (324) are arranged vertically, and one end on the holder II (321) length direction is solid
It is scheduled on the top surface of the slider I (312)；
Each stepper motor (33) is connect by shaft coupling with worm screw I (314), worm screw II (324) respectively.
4. domestic intelligent warehouse management system according to claim 3, it is characterised in that：
The sliding block III (62) is by two slide bar III (64) and worm screw III (65) limit in the holder III (61)
Two sides between, the holder III (61), slide bar III (64) and worm screw III (65) be in horizontally disposed, the gripper
Structure (6) is fixed on by L-shaped connecting plate (4) on vertical transmission mechanism (32)：The horizontal component of the holder III (61) is fixed
On the horizontal component of the connecting plate (4), the vertical portion of the connecting plate (4) is fixed on the sliding block II (322)；Institute
The side that driving motor (8) is fixed on the holder III (61) close to the connecting plate (4) is stated, the worm screw III (65) passes through
Shaft coupling is connect with driving motor (8).
5. according to any domestic intelligent warehouse management systems of claim 1-4, it is characterised in that：The control mechanism
(5) include display device (51), stand-alone keypad (52), microprocessor (53), storage unit (54) and Voltage stabilizing module (55)；It is described
Microprocessor (53) and stepper motor (33), display device (51), stand-alone keypad (52), storage unit (54), distance measuring sensor
(7) it is connected with driving motor (8) communication；Voltage stabilizing module (55) stablizes output stable DC voltage, is stepper motor (33), control
Mechanism (5), distance measuring sensor (7) and driving motor (8) power supply.
6. a kind of domestic intelligent warehouse management method, it is characterised in that：Based on domestic intelligent management as claimed in claim 5 system
System, including operate as follows：
Step S101, the control mechanism (5) calculate the position between target bin box and the grasping mechanism (6) according to control command
Set difference I；
Step S102, the control mechanism (5) export corresponding direct torque order, the stepper motor according to position difference I
(33) and driving motor (8) executes direct torque order, and constantly recycles the process, until position difference I is zero, the control
Mechanism (5) output torque control command is sky, and the grasping mechanism (6) reaches target location；
Step S103, the grasping mechanism (6) execute grasping movement, capture target bin box；
Step S104, the control mechanism (5) calculate the position difference between target bin box and region of taking according to control command
Ⅱ；
Step S105, the control mechanism (5) export corresponding direct torque order, the stepping electricity according to position difference II
Machine (33) and driving motor (8) execute direct torque order, and constantly recycle the process, until position difference is zero, the control
Mechanism (5) output torque control command processed is sky, and the grasping mechanism (6) reaches region of taking, and target bin box is taken；
Step S106, the control mechanism (5) wait for new control command, repeat the above process.
7. domestic intelligent warehouse management method according to claim 6, it is characterised in that：In step S101, micro- place
It manages device (53) and the control command that user keys in is received by the stand-alone keypad (52) and display device (51), and generate target bin
The information of box；The Card read/write of target bin box to storage unit (54) are obtained the position of target bin box by the microprocessor (53)
It sets, while the microprocessor (53) reads the back information of the distance measuring sensor (7), obtains the grasping mechanism (6)
Position；The microprocessor (53) calculates the position difference I between the target bin box and the grasping mechanism (6).
8. domestic intelligent warehouse management method according to claim 6, it is characterised in that：It is described in the step S101
Storage unit (54) is used to record the storage information of each storehouse box (11) in warehouse, and the storage information includes Description of Goods, deposits
Take dat recorder, access quantity record and other customized goods informations.
9. domestic intelligent warehouse management method according to claim 6, it is characterised in that：It is described in the step S103
Grasping mechanism (6) execute grasping movement detailed process be：The lower section that the crawl platform (63) moves to target bin box is reserved
Gap, and target bin box is made to be located between two limiting slots on the crawl platform (63)；The sliding block II (322) drives
The crawl platform (63) upwards lifts target bin box, and the sliding block III (62) drives the crawl platform (63) by target
Storehouse box is hauled out.
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| CN111924389A (en) * | 2019-05-13 | 2020-11-13 | 河南森源电气股份有限公司 | Three-dimensional library operation positioning method and control device |
| CN113353524A (en) * | 2021-06-07 | 2021-09-07 | 常熟理工学院 | Integration module structure of stereoscopic warehouse of FMS simulation system |
| CN114506609A (en) * | 2022-03-22 | 2022-05-17 | 江阴合威橡胶机械有限公司 | Automatic spindle assembling and disassembling device for spindle room |
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