CN110544303A - three-dimensional model of automatic stereoscopic warehouse for teaching, construction method and simulation system thereof - Google Patents
three-dimensional model of automatic stereoscopic warehouse for teaching, construction method and simulation system thereof Download PDFInfo
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- CN110544303A CN110544303A CN201910953700.5A CN201910953700A CN110544303A CN 110544303 A CN110544303 A CN 110544303A CN 201910953700 A CN201910953700 A CN 201910953700A CN 110544303 A CN110544303 A CN 110544303A
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Abstract
The invention discloses an automatic stereoscopic warehouse three-dimensional model and a simulation system for teaching, which comprise an automatic stereoscopic warehouse and an attribute panel, wherein the automatic stereoscopic warehouse comprises a warehouse body, a warehouse location, a stacker, a pallet fork and a guide rail; the attribute panel sets the properties of warehouse entry and exit positions, warehouse entry and exit objects and forks of the warehouse body; the pallet fork is arranged on the stacker and used for taking out objects from the storage or putting the objects on the storage; the stacker drives the fork to move on the guide rail, and objects are placed at or taken away from the warehouse-in and warehouse-out position. The invention ensures that the use of the three-dimensional model of the automatic stereoscopic warehouse has strong reusability and flexibility, and avoids the problem of large workload when the vertical warehouse is used in simulation. The terminal user does not need to spend a large amount of time to configure various parameters of the automatic stereoscopic warehouse model, and the configuration of various parameters can be realized only through the slide block in the vertical warehouse attribute panel, so that the operation is convenient, and the use experience of the user is improved.
Description
Technical Field
The invention belongs to the field of simulation software for teaching, and particularly relates to a three-dimensional model of an automatic stereoscopic warehouse for teaching, a construction method and a simulation system thereof.
background
in all simulation software, the construction and simulation operation of an automated stereoscopic warehouse (abbreviated as a vertical warehouse) are generally conducted by importing digital-analog files manufactured by three-dimensional digital-analog software into the simulation software, performing kinematic control definition on the digital-analog files in the simulation software, and calling the execution of simulation motion through a logic control instruction, wherein the operation steps of the simulation software in the prior art are as follows:
step one, importing a digital-analog:
Importing a three-dimensional model file of the automatic stereoscopic warehouse to simulation software, and displaying the submodels in a model list;
and secondly, grouping the models and adding the motion capability, wherein the operation steps are as follows:
2.1, adjusting and classifying submodels of the automatic stereoscopic warehouse model according to the mechanical structure composition, wherein the submodels with the same motion mechanism are classified into one type;
2.2, establishing a corresponding mechanical structure group for the sub-models of the same type;
2.3, adding motion capability to different mechanical structure groups, wherein the different mechanical structure groups operate along a single shaft to form an action posture, and 3 simulation operation states of warehouse-out, warehouse-in and pallet-withdrawing of the automatic stereoscopic warehouse are composed of a plurality of action postures;
Step three, creating an action component, and binding the motion capability and the associated signals for the action component, wherein the operation steps are as follows:
3.1, newly building an action component, and binding a plurality of defined action gestures;
3.2, configuring attribute definition of the action posture in the action building;
3.3, newly building action component signals, and correspondingly configuring signals for each action attitude for a virtual system to correspondingly call;
Fourthly, generating a virtual system, newly building a system logic signal, and associating the system logic signal with the action component signal, wherein the operation steps are as follows:
4.1, creating a virtual system for constructing and storing the operation flow of the automatic stereoscopic warehouse;
4.2, configuring a system logic signal in the virtual system editor, setting a signal name, a type and a port value, and completely defining signal information;
4.3, matching the system logic signals with the signals in the action components in a one-to-one correspondence manner;
Fifthly, adding a path for storing the simulation operation logic of the automatic stereoscopic warehouse in the virtual system, wherein the operation steps are as follows:
5.1, creating a control logic instruction, and selecting a corresponding system logic signal according to the simulation operation logic of the automatic stereoscopic warehouse;
5.2, the operation flow of the automatic stereoscopic warehouse can be checked during simulation execution.
the construction and simulation operation construction method of the automatic stereoscopic warehouse have many disadvantages and inconveniences, such as:
the operation setting workload is large, and more parameters need to be defined in the configuration process that the general basic actions of the automatic stereoscopic warehouse such as warehouse-out, warehouse-in, fork retraction and the like can run in the simulation process. In the teaching process, too much time is wasted in the process of operating the teaching tool each time, the study enthusiasm of students is easily eliminated, the operation is complex, the teaching tool cannot be flexibly applied, and the teaching tool is not suitable for the simulation practice of teaching.
disclosure of Invention
the technical problem to be solved by the invention is as follows: the three-dimensional model of the automatic stereoscopic warehouse for teaching, the construction method and the simulation system thereof are provided, and the problems that the three-dimensional model of the stereoscopic warehouse for simulation in the prior art is complex in operation, cannot be flexibly applied and is not suitable for teaching are solved.
The invention adopts the following technical scheme for solving the technical problems:
an automatic stereoscopic warehouse three-dimensional model for teaching comprises an automatic stereoscopic warehouse and an attribute panel, wherein the automatic stereoscopic warehouse comprises a warehouse body, a warehouse location, a stacker, a pallet fork and a guide rail; the attribute panel sets the properties of warehouse entry and exit positions, warehouse entry and exit objects and forks of the warehouse body; the pallet fork is arranged on the stacker and used for taking out objects from the storage or putting the objects on the storage; the stacker drives the fork to move on the guide rail, and objects are placed at or taken away from the warehouse-in and warehouse-out position.
The pallet fork comprises a tray, a flat plate and a hook.
the specification of the automatic stereoscopic warehouse is preset parameter information and is stored in a configuration file, the attribute panel comprises a dragging slider bound with the specification of the stereoscopic warehouse, and the dragging slider is used for operating the loading and unloading of simulation interface objects.
a construction method of a three-dimensional model of an automatic stereoscopic warehouse for teaching comprises the following steps:
Step 1, binding a unified structural framework for an automatic stereoscopic warehouse three-dimensional model with dynamic properties, wherein the structural framework comprises the structural functions of specification parameter processing, motion boundary processing and manual interaction processing of the stereoscopic warehouse three-dimensional model;
Step 2, defining the movement direction and the boundary of a stacker and a fork of the three-dimensional model of the stereoscopic warehouse according to the movement principle of the three-dimensional model of the automatic stereoscopic warehouse and the specification parameters of the automatic stereoscopic warehouse;
step 3, binding installation placement points of warehousing articles and types of warehousing articles for the warehouse positions in the stereoscopic warehouse according to the warehouse position characteristics of the automatic stereoscopic warehouse;
step 4, data binding is carried out on the attribute panel of the automatic stereoscopic warehouse, and the movement boundaries of the stacker and the fork are synchronously bound with the sliding blocks in the attribute panel;
and 5, configuring the warehousing and ex-warehousing positions through the sliding blocks in the attribute panel to complete the construction of the three-dimensional model of the stereoscopic warehouse.
The manual interaction processing in the step 1 comprises corresponding parameter information such as binding of the structured frame and the property panel slide block, dragging of the stacker, and installation of the article in a storage position.
the action parameters of the stereoscopic warehouse comprise left-right translation, up-down translation and pallet fork movement of the stacker.
the specification parameters of the three-dimensional model of the stereoscopic warehouse comprise the size of the stereoscopic warehouse, the size and the type of a warehouse location, the type of a pallet fork and the type of an object placed in the warehouse location.
the motion boundaries of the three-dimensional model of the stereoscopic warehouse comprise the moving boundaries of the stacker on an X axis, a Y axis and a Z axis, the moving boundaries of the pallet fork and the setting boundaries of the warehouse location.
The utility model provides an automatic stereoscopic warehouse simulation system is used in teaching, including emulation display terminal, external control equipment, the user opens simulation software on emulation display terminal, select stereoscopic warehouse model in the model storehouse list, and drag to the application scene region, then drag corresponding object to stereoscopic warehouse on in the object list of model storehouse, the storehouse position of stereoscopic warehouse is installed automatically to the object, the user opens the attribute panel, through the article on the attribute panel with stereoscopic warehouse, appoint the position of going in and out storehouse buffer point through dragging the slider, the process of going in and out the storehouse of stereoscopic warehouse is operated through external control equipment.
The operation process of warehousing and ex-warehouse is as follows:
when the goods are taken out of the warehouse, the goods are moved to a set object cache point from the warehouse position by the fork, and then the goods are taken away;
When the goods are put in storage, the fork firstly moves the goods from the specified position to the set object cache point, and then the goods are stored in the corresponding storage position.
compared with the prior art, the invention has the following beneficial effects:
1. The invention ensures that the use of the three-dimensional model of the automatic stereoscopic warehouse has strong reusability and flexibility, and avoids the problem of large workload when the vertical warehouse is used in simulation.
2. The warehouse entry and exit positions are randomly arranged, so that the movement of the stacker in the three-dimensional model of the automatic stereoscopic warehouse is diversified, and a user can define the required warehouse entry and exit position by sliding the sliding block, thereby achieving the aim of improving the flexibility.
3. The automatic stereoscopic warehouse model adopts a unified structural mode, so that the model action can be expanded only by updating the specification parameters of the vertical warehouse, and the expandability of the automatic stereoscopic warehouse model is improved.
4. The installation placing points of the objects are created for the warehouse positions of the automatic stereoscopic warehouse, and the end users can automatically install the objects only by dragging the objects to the vertical warehouse model, so that the configuration flexibility is improved.
5. The simulation system of the invention is applied by the terminal user, and the configuration of various parameters of the automatic stereoscopic warehouse model can be realized only by the slide block in the vertical warehouse attribute panel without spending a large amount of time, so that the operation is convenient, and the use experience of the user is improved.
drawings
fig. 1 is a block diagram of a simulation operation construction method of a three-dimensional model of an automated stereoscopic warehouse according to the present invention.
Fig. 2 is a flowchart of a simulation operation method of the three-dimensional model of the automated stereoscopic warehouse according to the present invention.
fig. 3 is a library bit binding flow chart of an attribute panel constructed by the three-dimensional model of the automated stereoscopic warehouse according to the present invention.
Fig. 4 is a flow chart of property panel slider information binding constructed by the three-dimensional model of the automated stereoscopic warehouse according to the present invention.
fig. 5 is a three-dimensional model structure diagram of an automated stereoscopic warehouse a according to an embodiment of the present invention.
fig. 6 is a diagram of an attribute panel of a three-dimensional model of an automated stereoscopic warehouse a in accordance with an embodiment of the present invention.
fig. 7 is a three-dimensional model structure diagram of an automated stereoscopic warehouse B according to an embodiment of the present invention.
Fig. 8 is a diagram of an attribute panel of a three-dimensional model of an automated stereoscopic warehouse B in accordance with an embodiment of the present invention.
Fig. 9 is a three-dimensional model structure diagram of an automated stereoscopic warehouse C according to an embodiment of the present invention.
Fig. 10 is a property panel diagram of a three-dimensional model of an automated stereoscopic warehouse C in accordance with an embodiment of the present invention.
wherein, the labels in the figure are: 1-a stacker; 2-a control cabinet; 3-a pallet fork; 4-a guide rail; 5-a tray chassis; 6-warehouse-in and warehouse-out bracket; 7-a cross beam; 8-cargo aircraft; 9-layer plate.
Detailed Description
The structure and operation of the present invention will be further described with reference to the accompanying drawings.
An automatic stereoscopic warehouse three-dimensional model for teaching comprises an automatic stereoscopic warehouse and an attribute panel, wherein the automatic stereoscopic warehouse comprises a warehouse body, a warehouse location, a stacker, a pallet fork and a guide rail; the attribute panel is used for setting the visual warehouse entry and exit position, warehouse entry and exit object and pallet fork attributes of the warehouse body; the pallet fork is arranged on the stacker and used for taking out objects from the storage or putting the objects on the storage; the stacker drives the fork to move on the guide rail, and objects are placed at or taken away from the warehouse-in and warehouse-out position.
The pallet fork comprises a tray, a flat plate and a hook.
The specification of the automatic stereoscopic warehouse is preset parameter information and is stored in a configuration file, the attribute panel comprises a dragging slider bound with the specification of the stereoscopic warehouse, and the dragging slider is used for operating the loading and unloading of simulation interface objects.
A method for constructing a three-dimensional model of an automatic stereoscopic warehouse for teaching, as shown in fig. 1 to 4, comprises the following steps:
step 1, binding a unified structural framework for an automatic stereoscopic warehouse three-dimensional model with dynamic properties, wherein the structural framework comprises the structural functions of specification parameter processing, motion boundary processing and manual interaction processing of the stereoscopic warehouse three-dimensional model;
step 2, defining the movement direction and the boundary of a stacker and a fork of the three-dimensional model of the stereoscopic warehouse according to the movement principle of the three-dimensional model of the automatic stereoscopic warehouse and the specification parameters of the automatic stereoscopic warehouse;
Step 3, binding installation placement points of warehousing articles and types of warehousing articles for the warehouse positions in the stereoscopic warehouse according to the warehouse position characteristics of the automatic stereoscopic warehouse;
Step 4, data binding is carried out on the attribute panel of the automatic stereoscopic warehouse, and the movement boundaries of the stacker and the fork are synchronously bound with the sliding blocks in the attribute panel;
And 5, configuring the warehousing and ex-warehousing positions through the sliding blocks in the attribute panel to complete the construction of the three-dimensional model of the stereoscopic warehouse.
The manual interaction processing in the step 1 comprises corresponding parameter information such as binding of the structured frame and the property panel slide block, dragging of the stacker, and installation of the article in a storage position.
The action parameters of the stereoscopic warehouse comprise left-right translation, up-down translation and pallet fork movement of the stacker.
the specification parameters of the three-dimensional model of the stereoscopic warehouse comprise the size of the stereoscopic warehouse, the size and the type of a warehouse location, the type of a pallet fork and the type of an object placed in the warehouse location.
the motion boundaries of the three-dimensional model of the stereoscopic warehouse comprise the moving boundaries of the stacker on an X axis, a Y axis and a Z axis, the moving boundaries of the pallet fork and the setting boundaries of the warehouse location.
the utility model provides an automatic stereoscopic warehouse simulation system is used in teaching, including emulation display terminal, external control equipment, the user opens simulation software on emulation display terminal, select stereoscopic warehouse model in the model storehouse list, and drag to the application scene region, then drag corresponding object to stereoscopic warehouse on in the object list of model storehouse, the storehouse position of stereoscopic warehouse is installed automatically to the object, the user opens the attribute panel, through the article on the attribute panel with stereoscopic warehouse, appoint the position of going in and out storehouse buffer point through dragging the slider, the process of going in and out the storehouse of stereoscopic warehouse is operated through external control equipment.
the operation process of warehousing and ex-warehouse is as follows:
When the goods are taken out of the warehouse, the goods are moved to a set object cache point from the warehouse position by the fork, and then the goods are taken away;
When the goods are put in storage, the fork firstly moves the goods from the specified position to the set object cache point, and then the goods are stored in the corresponding storage position.
When the user applies the automatic three-dimensional model to carry out teaching simulation, a large amount of time is not needed to be spent for configuring the motion information of the stacker in the vertical warehouse model, and the motion modes of the stacker and the pallet fork can be obtained only by sliding the sliding block in the attribute panel, so that the motion modes can be used in subsequent simulation operation.
In the first embodiment, as shown in fig. 5 and 6:
The three-dimensional model of the automatic stereoscopic warehouse A is taken as an example to describe the automatic vertical warehouse three-dimensional model and the simulation operation construction method thereof in detail.
the three-dimensional model of the automatic stereoscopic warehouse comprises an automatic stereoscopic warehouse and an attribute panel, wherein the automatic stereoscopic warehouse comprises a warehouse body, a warehouse location, a stacker 1, a control cabinet 2, a fork 3, a guide rail 4, a tray underframe 5 and an in-out warehouse support 6; firstly, a guide rail 4 is placed at the bottommost part of the vertical warehouse, then a stacker 1 is installed on the guide rail 4, a control cabinet 2 and the stacker 1 are placed together, a fork 3 is installed on the stacker 1, a tray underframe 5 is installed in a warehouse position of the vertical warehouse, and an in-out warehouse support 6 is installed at the lower left corner of the vertical warehouse.
The attribute panel is used for setting the visual warehouse entry and exit position, warehouse entry and exit object and pallet fork attributes of the warehouse body; the pallet fork is arranged on the stacker and used for taking out objects from the storage or putting the objects on the storage; the stacker drives the fork to move on the guide rail, and objects are placed at or taken away from the warehouse-in and warehouse-out position.
The forks of this embodiment are retractable flat plates.
the simulation operation construction method comprises the following steps:
Step 1, binding a unified structural framework for an automatic stereoscopic warehouse A with dynamic properties, wherein the framework is used as a general basic framework of a vertical warehouse A model;
Step 2, defining model specification parameters of the vertical warehouse according to the motion principles of left-right translation, up-down translation and extension and retraction of the pallet fork of the stacker and the pallet fork model in the vertical warehouse, and initializing the parameters in a structural frame; in the embodiment, the guide rail is defined to move forwards along the X axis, the movement stroke is 2837 mm, the guide rail moves forwards along the Y axis, the movement stroke is 2040 mm, and the pallet fork moves plus or minus 700 mm along the Z axis; defining the 8 nd row and the 2 nd column of the stereoscopic warehouse as a first warehouse position, and the 8 th row and the 3 rd column as a second warehouse position;
step 3, binding mounting and placing points of the warehouse-out articles for the warehouse positions in the vertical warehouse according to the warehouse position characteristics of the automatic stereoscopic warehouse, wherein all places for placing objects are called warehouse positions, the left and right arbitrary positions of the vertical warehouse in the embodiment are respectively provided with an warehouse-out position and a warehouse-in position, and the two warehouse-in and warehouse-out positions are fixed;
And 4, binding the movement boundaries of the stacker and the fork in the attribute panel of the automatic stereoscopic warehouse and binding the movement boundaries through the sliding blocks in the attribute panel.
The setting panel in the attribute panel of the automatic stereoscopic warehouse of the embodiment is applied as follows:
the attribute interface is divided into three parts, including an inventory setting part, an in-out warehouse cache point setting part and an action setting part;
In the storage setting, the articles installed and placed in the vertical storage positions by the terminal user are displayed, and if the placement is cancelled, the deleting button in the setting is clicked.
In the in-out warehouse buffer point setting, a stacker and a pallet fork in a vertical warehouse model are moved through sliders with X, Y, Z three coordinates, after a terminal user finds out a corresponding in-out warehouse buffer point, the buffer point of in-warehouse and out-warehouse is set, and previewing is carried out to form a corresponding previewing button in millimeter;
In the action setting interface, numbers Act1, Act2, Act3 and Act4 are action numbers and respectively represent warehousing, ex-warehouse 1, ex-warehouse 2 and withdrawing forks; the Act2 and the Act3 represent the delivery of two different kinds of articles respectively.
The concrete operation process of the vertical warehouse entry and exit in the embodiment is as follows:
drag the object to standing up the storehouse, install the object on the storehouse position, the kind of the object of installation is many, can be an empty tray, also can be the part that the teaching was used, for teaching such as Luban lock or magnifying glass with the part, mainly come according to producing the line demand and decide. This embodiment presets the part for Luban lock teaching that first storehouse position was deposited, and the part for magnifying glass teaching is deposited to second storehouse position.
And (3) moving process of ex-warehouse:
taking the first warehouse position for ex-warehouse as an example, moving a stacker to the row where the first warehouse position is located along an X axis, moving the stacker to the row where the first warehouse position is located along a Y axis, and configuring the position where the first warehouse position is located through parameters;
Secondly, moving the fork along the Z axis after the fork reaches the first storage position, taking out the object in the first storage position, and withdrawing the fork after the object is taken out;
thirdly, after the fork is retracted, the stacker descends along the Y axis to the height of the warehouse-in and warehouse-out support, the height of the warehouse-in and warehouse-out support is defaulted to be the initial height, and after the stacker descends, the stacker translates along the X axis and moves to the position of the warehouse-in and warehouse-out support;
and fourthly, after the position of the warehouse-in and warehouse-out support is reached, the fork moves along the Z axis, the taken-out object is put on the warehouse-in and warehouse-out support, and the fork is retracted.
and (3) warehousing moving process:
firstly, moving a fork along a Z axis at a position of a warehouse inlet and outlet support of a stacker, taking an object to be placed in a warehouse position at the position of the warehouse inlet and outlet support, and withdrawing the fork after taking the object;
Taking warehousing to the first storage position as an example, moving the stacker to the row where the first storage position is located along the X axis, and moving the stacker to the row where the first storage position is located along the Y axis;
and thirdly, after the first storage position is reached, the fork moves along the Z axis, the object is placed in the first storage position, and the fork is retracted.
All the library bit operations are performed according to the steps.
in the second embodiment, as shown in fig. 7 and 8:
The three-dimensional model of the automatic stereoscopic warehouse B is taken as an example to give a detailed description of the automatic vertical warehouse three-dimensional model and the simulation operation construction method thereof.
The three-dimensional model of the automatic stereoscopic warehouse comprises the automatic stereoscopic warehouse and an attribute panel, wherein the automatic stereoscopic warehouse comprises a warehouse body, a warehouse location, a stacker 1, a fork 3, a guide rail 4, a cross beam 7 and a cargo loader 8; firstly, a guide rail 4 is placed at the bottommost part of a vertical warehouse, then a stacker 1 is installed on the guide rail 4, a cargo loader 8 is installed on the stacker 1, a pallet fork 3 is installed on the cargo loader 8, and a warehouse location and a cross beam 7 are installed together to form a complete vertical warehouse model.
the attribute panel is used for setting the visual warehouse entry and exit position, warehouse entry and exit object and pallet fork attributes of the warehouse body; the pallet fork is arranged on the stacker and used for taking out objects from the storage or putting the objects on the storage; the stacker drives the fork to move on the guide rail, and objects are placed at or taken away from the warehouse-in and warehouse-out position.
the simulation operation construction method of the three-dimensional model of the automatic stereoscopic warehouse B comprises the following steps:
step 1, binding a unified structural framework for an automatic stereoscopic warehouse B with dynamic properties, wherein the framework is used as a general basic framework of a vertical warehouse B model;
Step 2, defining model specification parameters of the vertical warehouse according to the movement principles of left-right translation, up-down translation and fork extension and retraction of a stacker and a fork model in the vertical warehouse, and primarily converting the parameters in a structural framework; this embodiment defines that the guide rail moves forward along the X-axis with a travel of 4850 mm, moves forward along the Y-axis with a travel of 1800 mm, and the fork moves along the Z-axis with plus or minus 1000 mm, the third position in the third column on the 3 rd row and the 2 nd column on the 3 rd row and the 3 rd column.
Step 3, binding mounting and placing points of the goods out of the warehouse for the warehouse location in the vertical warehouse according to the warehouse location characteristics of the automatic stereoscopic warehouse, wherein any position in front of the vertical warehouse can be used as the position of the goods out of the warehouse;
and 4, binding the movement boundaries of the stacker and the fork in the attribute panel of the automatic stereoscopic warehouse and binding the movement boundaries through the sliding blocks in the attribute panel.
the setting panel in the attribute panel of the automatic stereoscopic warehouse of the embodiment is applied as follows:
the attribute interface is divided into three parts, including an inventory setting part, an in-out warehouse cache point setting part and an action setting part;
In the storage setting, the articles installed and placed in the vertical storage positions by the terminal user are displayed, and if the placement is cancelled, the deleting button in the setting is clicked.
in the in-out warehouse buffer point setting, a stacker and a pallet fork in a vertical warehouse model are moved through sliders with X, Y, Z three coordinates, after a terminal user finds out a corresponding in-out warehouse buffer point, the buffer point of in-warehouse and out-warehouse is set, and previewing is carried out to form a corresponding previewing button in millimeter;
in the action setting interface, numbers Act1, Act2, Act3 and Act4 are action numbers and respectively represent warehousing, ex-warehouse 1, ex-warehouse 2 and withdrawing forks; the Act2 and the Act3 represent the delivery of two different kinds of articles respectively.
The concrete operation process of the vertical warehouse entry and exit in the embodiment is as follows:
this embodiment presets the part for Luban lock teaching that the third storehouse position was deposited, and the part for magnifying glass teaching is deposited to the fourth storehouse position.
the ex-warehouse moving process is as follows:
taking the third warehouse position of warehouse discharge as an example, moving the stacker to the row of the third warehouse position along the X axis, and moving the stacker to the row of the third warehouse position along the Y axis;
Secondly, moving the fork along the Z axis after the fork reaches the third storage position, taking out the object in the third storage position, and withdrawing the fork after the object is taken out;
thirdly, after the fork is retracted, the stacker descends along the Y axis to the warehouse-out height, the warehouse-out height is set by a user in the attribute panel through partitioning, and after the stacker descends, the stacker translates along the X axis and moves to the warehouse-out position;
And fourthly, after the goods fork reaches the warehouse-out position, moving the goods fork along the Z axis, placing the taken-out object at the warehouse-out position, and withdrawing the goods fork.
the warehousing moving process is as follows:
firstly, moving a stacker to a warehousing position along an X axis, then moving the stacker to the height of the warehousing position along a Y axis, moving a fork along a Z axis, setting the position in an attribute panel through a block, and taking an object and then withdrawing the fork;
taking warehousing to a third warehouse location as an example, moving the stacker to the row of the third warehouse location along the X axis, and moving the stacker to the row of the third warehouse location along the Y axis;
And thirdly, after the third warehouse position is reached, the fork moves along the Z axis, the object is placed in the third warehouse position, and the fork is retracted.
in the third embodiment, as shown in fig. 9 and 10:
The three-dimensional model of the automatic stereoscopic warehouse comprises the automatic stereoscopic warehouse and an attribute panel, wherein the automatic stereoscopic warehouse comprises a warehouse body, a warehouse location, a stacker 1, a fork 3, a guide rail 4 and a laminate 9; firstly, the guide rails 4 are placed at the bottommost part and the topmost part of the vertical warehouse, then the stacker 1 is installed on the guide rails 4, the fork 3 is installed on the stacker 1, and the laminate 9 is placed on the warehouse.
The attribute panel is used for setting the visual warehouse entry and exit position, warehouse entry and exit object and pallet fork attributes of the warehouse body; the pallet fork is arranged on the stacker and used for taking out objects from the storage or putting the objects on the storage; the stacker drives the fork to move on the guide rail, and objects are placed at or taken away from the warehouse-in and warehouse-out position.
the three-dimensional model of the automatic stereoscopic warehouse C is taken as an example to give a detailed description of the automatic vertical-warehouse three-dimensional model and the construction method thereof
The simulation operation construction method of the three-dimensional model of the automatic stereoscopic warehouse comprises the following steps:
Step 1, binding a unified structural framework for an automatic stereoscopic warehouse with dynamic properties, wherein the framework is used as a general basic framework of a vertical warehouse model;
step 2, defining model specification parameters of the vertical warehouse according to the motion principles of left-right translation, up-down translation and extension and retraction of the pallet fork of the stacker and the pallet fork model in the vertical warehouse, and initializing the parameters in a structural frame; in the embodiment, the guide rail moves forwards along the X axis with a movement stroke of 3120 mm, and moves forwards along the Y axis with a movement stroke of 2050 mm; the pallet fork moves plus and minus 870 millimeters along the Z-axis direction, and the fifth storage position is positioned on the 5 th row, the 3 rd column, the sixth storage position is positioned on the 5 th row, the 4 th column;
Step 3, binding installation and placement points of the goods out of the warehouse for the warehouse location in the vertical warehouse according to the warehouse location characteristics of the automatic stereoscopic warehouse; the blank areas on the left side and the right side of the vertical library can be used as the warehouse entry and exit positions of the vertical library, and a user sets the warehouse entry and exit positions through the attribute panel block of the vertical library;
Step 4, binding the movement boundaries of the stacker and the pallet fork in an attribute panel of the automatic stereoscopic warehouse and binding the movement boundaries through a sliding block in the attribute panel; .
The setting panel in the attribute panel of the automatic stereoscopic warehouse of the embodiment is applied as follows:
The attribute interface is divided into three parts, including an inventory setting part, an in-out warehouse cache point setting part and an action setting part;
In the storage setting, the articles installed and placed in the vertical storage positions by the terminal user are displayed, and if the placement is cancelled, the deleting button in the setting is clicked.
In the in-out warehouse buffer point setting, a stacker and a pallet fork in a vertical warehouse model are moved through sliders with X, Y, Z three coordinates, after a terminal user finds out a corresponding in-out warehouse buffer point, the buffer point of in-warehouse and out-warehouse is set, and previewing is carried out to form a corresponding previewing button in millimeter;
in the action setting interface, numbers Act1, Act2, Act3 and Act4 are action numbers and respectively represent warehousing, ex-warehouse 1, ex-warehouse 2 and withdrawing forks; the Act2 and the Act3 represent the delivery of two different kinds of articles respectively.
The concrete operation process of the vertical warehouse entry and exit in the embodiment is as follows:
drag the object to the vertical warehouse, install the object on the storehouse position, the tray that the installation object needs to have the handle. The teaching parts are placed on the tray.
the ex-warehouse moving process is as follows:
Taking the fifth warehouse position of warehouse discharge as an example, moving the stacker to the row where the fifth warehouse position is located along the X axis, and moving the stacker to the row where the fifth warehouse position is located along the Y axis;
Secondly, moving the fork along the Z axis after the fork arrives, taking out the object in the storage position, and withdrawing the fork after the object is taken out;
Thirdly, after the fork is retracted, the stacker descends along the Y axis to the warehouse-out height, the warehouse-out height is set by a user in the attribute panel through partitioning, and after the stacker descends, the stacker translates along the X axis and moves to the warehouse-out position;
And fourthly, after the goods fork reaches the warehouse-out position, moving the goods fork along the Z axis, placing the taken-out object at the warehouse-out position, and withdrawing the goods fork.
The specific process of warehousing movement is as follows:
Firstly, moving a stacker to a warehousing position along an X axis, moving a fork to the height of the warehousing position along a Y axis, setting the position in an attribute panel through a block, and taking an object and then withdrawing the fork;
taking warehousing to a fifth warehouse location as an example, moving the stacker to a column where the fifth warehouse location is located along the X axis, and moving the stacker to a row where the fifth warehouse location is located along the Y axis;
And thirdly, after the fifth storage position is reached, the fork moves along the Z axis, the object is placed into the fifth storage position, and the fork is retracted.
and the terminal user configures the model action parameters through the attribute panel of the three-dimensional model of the automatic stereoscopic warehouse.
in all the technical characteristics, the attribute panel and the user operation are arranged at the bottom layer, the three-dimensional model of the automatic stereoscopic warehouse is used and constructed as invisible control data and is given to the body of the three-dimensional model of the automatic stereoscopic warehouse, and the user can directly use the three-dimensional model of the automatic stereoscopic warehouse only by setting simple parameters through the attribute panel in the application process.
the external control equipment in the scheme comprises equipment such as a keyboard, a mouse, a mobile terminal controller and the like.
the technical scheme is further described only as a special example, the technical scheme cannot be considered to be only protected, and all automatic stereoscopic warehouse three-dimensional models for simulation can be constructed by the method, so that convenience is brought to user application, teaching time is saved, and teaching efficiency is improved.
Claims (10)
1. The utility model provides a teaching is with automatic stereoscopic warehouse three-dimensional model which characterized in that: the automatic stereoscopic warehouse comprises an automatic stereoscopic warehouse body, a warehouse location, a stacker, a pallet fork and a guide rail, wherein the automatic stereoscopic warehouse body comprises a warehouse body, a warehouse location, a stacker, a pallet fork and a guide rail; the attribute panel sets the properties of warehouse entry and exit positions, warehouse entry and exit objects and forks of the warehouse body; the pallet fork is arranged on the stacker and used for taking out objects from the storage or putting the objects on the storage; the stacker drives the fork to move on the guide rail, and objects are placed at or taken away from the warehouse-in and warehouse-out position.
2. the three-dimensional model of an automated stereoscopic warehouse for teaching of claim 1, wherein: the pallet fork comprises a tray, a flat plate and a hook.
3. the three-dimensional model of an automated stereoscopic warehouse for teaching of claim 1, wherein: the specification of the automatic stereoscopic warehouse is preset parameter information and is stored in a configuration file, the attribute panel comprises a dragging slider bound with the specification of the stereoscopic warehouse, and the dragging slider is used for operating the loading and unloading of simulation interface objects.
4. a method for constructing a three-dimensional model of an automatic stereoscopic warehouse for teaching, which is the three-dimensional model of claim 1, 2 or 3, characterized in that: the method comprises the following steps:
step 1, binding a unified structural framework for an automatic stereoscopic warehouse three-dimensional model with dynamic properties, wherein the structural framework comprises the structural functions of specification parameter processing, motion boundary processing and manual interaction processing of the stereoscopic warehouse three-dimensional model;
step 2, defining the movement direction and the boundary of a stacker and a fork of the three-dimensional model of the stereoscopic warehouse according to the movement principle of the three-dimensional model of the automatic stereoscopic warehouse and the specification parameters of the automatic stereoscopic warehouse;
Step 3, binding installation placement points of warehousing articles and types of warehousing articles for the warehouse positions in the stereoscopic warehouse according to the warehouse position characteristics of the automatic stereoscopic warehouse;
Step 4, data binding is carried out on the attribute panel of the automatic stereoscopic warehouse, and the movement boundaries of the stacker and the fork are synchronously bound with the sliding blocks in the attribute panel;
and 5, configuring the warehousing and ex-warehousing positions through the sliding blocks in the attribute panel to complete the construction of the three-dimensional model of the stereoscopic warehouse.
5. The three-dimensional model of an automated stereoscopic warehouse for teaching of claim 4, wherein: the manual interaction processing in the step 1 comprises corresponding parameter information such as binding of the structured frame and the property panel slide block, dragging of the stacker, and installation of the article in a storage position.
6. the three-dimensional model of an automated stereoscopic warehouse for teaching of claim 4, wherein: the action parameters of the stereoscopic warehouse comprise left-right translation, up-down translation and pallet fork movement of the stacker.
7. The three-dimensional model of an automated stereoscopic warehouse for teaching of claim 4, wherein: the specification parameters of the three-dimensional model of the stereoscopic warehouse comprise the size of the stereoscopic warehouse, the size and the type of a warehouse location, the type of a pallet fork and the type of an object placed in the warehouse location.
8. The three-dimensional model of an automated stereoscopic warehouse for teaching of claim 4, wherein: the motion boundaries of the three-dimensional model of the stereoscopic warehouse comprise the moving boundaries of the stacker on an X axis, a Y axis and a Z axis, the moving boundaries of the pallet fork and the setting boundaries of the warehouse location.
9. the utility model provides a teaching is with automatic stereoscopic warehouse simulation system which characterized in that: the system comprises a simulation display terminal and external control equipment, wherein a user opens simulation software on the simulation display terminal, selects a stereoscopic warehouse model from a model library list, drags the stereoscopic warehouse model to an application scene area, then drags a corresponding object to a stereoscopic warehouse in an object list of the model library, the object is automatically installed on a position of the stereoscopic warehouse, the user opens an attribute panel, articles on the stereoscopic warehouse are placed in and out of the warehouse through the attribute panel, the position of a cache point of the warehouse is appointed through a dragging slider, and the warehouse entering and exiting process of the stereoscopic warehouse is operated through the external control equipment.
10. The automated stereoscopic warehouse simulation system for teaching of claim 9, wherein: the operation process of warehousing and ex-warehouse is as follows:
when the goods are taken out of the warehouse, the goods are moved to a set object cache point from the warehouse position by the fork, and then the goods are taken away;
When the goods are put in storage, the fork firstly moves the goods from the specified position to the set object cache point, and then the goods are stored in the corresponding storage position.
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Application publication date: 20191206 |