A rotating automated warehouse, a clamping method, a warehouse location calibration method and system

Abstract

This invention provides a rotating automated warehouse, a gripping method, a warehouse location calibration method, and a system. The warehouse location calibration method includes the following steps: obtaining the sum of the displacements of the reverse clearance and the back clearance of the lead screw of the rotating automated warehouse as a compensation amount; when the pallet rotates to face the material picking direction of the robot arm, two warehouse locations are randomly selected as teaching points, and the spatial coordinates of the two teaching points are obtained; the row spacing and column spacing of each warehouse location in the rotating automated warehouse are calculated based on the spatial coordinates of the two teaching points; and the actual position coordinates of each warehouse location in the rotating automated warehouse are calculated based on the row spacing, the column spacing, and the compensation amount. This method can detect the reverse clearance and the back clearance, is easy to operate, and obtains the position coordinates of each warehouse location after rotation through matrix calculation, and compensates for the reverse clearance and the back clearance into the position coordinates, shortening the calibration time and improving accuracy, enabling the robot arm to accurately grasp the items on the warehouse location.

Description

Technical Field

[0001] This invention relates to the field of warehouse location calibration technology, and more particularly to a rotating three-dimensional warehouse, a clamping method, a warehouse location calibration method and system. Background Technology

[0002] With the continuous development of society and technology, rotating automated warehouses are a common type of equipment, widely used in industrial production, express delivery, food delivery, pharmacies and other application scenarios, and are loved by people for their convenience.

[0003] Rotating automated storage and retrieval systems (AS / RS) typically utilize a lead screw mounted on the output of a servo motor. A tray is threaded onto this lead screw, and multiple storage positions are designated on the tray. These positions are called storage locations. During operation, a robotic arm retrieves the corresponding item based on the location information. However, there are two main issues. First, the servo motor drives the lead screw, which in turn moves the tray. Backlash and reverse backlash during this transmission process significantly impact the tray's movement control. Second, after the tray has moved, items may detach from their original storage locations due to the motion, requiring manual teaching of the robotic arm to each location – a time-consuming and inefficient process prone to errors. Therefore, these two factors combined result in significant storage location errors, necessitating substantial time for calibration.

[0004] Therefore, this invention aims to provide a rotating three-dimensional warehouse, a clamping method, a warehouse location calibration method, and a system. Summary of the Invention

[0005] The purpose of this invention is to provide a rotating three-dimensional warehouse, a clamping method, a warehouse location calibration method and system. By compensating for reverse clearance and back clearance, it improves motion accuracy and reduces costs. Furthermore, by using matrix operations, it improves the accuracy of warehouse locations, reduces the time required for manual calibration, and saves manpower and resources.

[0006] The technical solution provided by this invention is as follows:

[0007] A method for calibrating storage locations in a rotating automated warehouse includes the following steps:

[0008] The sum of the displacements of the reverse clearance and the back clearance of the rotating three-dimensional warehouse screw is obtained as the compensation amount;

[0009] When the pallet is rotated to face the direction of the robot arm picking up the material, two storage positions are randomly selected as teaching points, and the spatial coordinates of the two teaching points are obtained;

[0010] The row and column spacing of adjacent storage locations in the rotating automated warehouse are calculated based on the spatial coordinates of the two teaching points.

[0011] The actual coordinates of each storage location in the rotating three-dimensional warehouse are calculated based on the row spacing, column spacing, and compensation amount.

[0012] In some embodiments, the step of obtaining the sum of the displacements of the reverse clearance and the back clearance of the rotating three-dimensional warehouse screw as the compensation amount specifically includes:

[0013] The servo motor is controlled to move the lead screw a first preset distance in the positive direction;

[0014] The servo motor is controlled to drive the lead screw to move in the opposite direction, moving a second preset distance each time. The number of times the lead screw is controlled to move in the opposite direction when the rotating three-dimensional warehouse starts to rotate is calculated.

[0015] Multiplying the second preset distance by the number of times the lead screw moves in the opposite direction, the sum of the displacements of the reverse clearance and the back clearance is E = n * δ;

[0016] Where E is the sum of the displacements of the reverse clearance and the back clearance, n is the number of times the lead screw moves in the opposite direction, and δ is the second preset distance.

[0017] In some implementations, the second preset distance is much smaller than the first preset distance.

[0018] In some implementations, calculating the row and column spacing of adjacent storage locations in the rotating automated warehouse based on the spatial coordinates of the two teaching points specifically includes the following steps:

[0019] Obtain the row and column numbers of the two teaching points respectively;

[0020] The row spacing and column spacing of adjacent storage locations are calculated based on the row number, column number, and spatial coordinates of the teaching points, using the following formula:

[0021] dz=(z m1 -z 1m ) / m-1;dx=(x 1m -x m1 ) / m-1;

[0022] Where dz is the row spacing, dx is the column spacing, and z is the column spacing. m1 , z 1m These are the spatial coordinates of the two teaching points on the Z-axis, x and x'. 1m x m1 These are the values ​​of the spatial coordinate system of the two teaching points on the X-axis. The number of rows and columns of one teaching point is m and 1, respectively, and the number of rows and columns of the other teaching point is 1 and m, respectively.

[0023] In some embodiments, the specific steps of calculating the actual coordinates of each storage location in the rotating automated warehouse based on the row spacing, column spacing, and compensation amount include:

[0024] The coordinates of each storage location in the rotating automated warehouse are calculated based on the row spacing, the column spacing, and the spatial coordinates of the teaching points.

[0025] The actual coordinates of each storage location in the rotating automated warehouse are calculated based on the location coordinates and the compensation amount.

[0026] The present invention also provides a rotating three-dimensional warehouse location calibration system, comprising: a first acquisition module, a second acquisition module, a first calculation module, and a second calculation module;

[0027] The first acquisition module is used to obtain the sum of the displacement of the reverse clearance and the back clearance of the rotating three-dimensional warehouse screw, as a compensation amount;

[0028] The second acquisition module is used to select any two of the storage locations as teaching points when the rotating three-dimensional warehouse stops, and to acquire the spatial coordinates of the two teaching points.

[0029] The first calculation module is used to calculate the row spacing and column spacing of each storage location in the rotating three-dimensional warehouse based on the spatial coordinates of the two teaching points;

[0030] The second calculation module is used to calculate the actual coordinates of each storage location in the rotating three-dimensional warehouse based on the row spacing, the column spacing, and the compensation amount.

[0031] In some implementations, the first acquisition module includes:

[0032] The first control unit is used to control the servo motor to drive the lead screw to move a first preset distance in the positive direction;

[0033] The second control unit is used to control the servo motor to drive the lead screw to move in the opposite direction, moving a second preset distance each time; the second preset distance is much smaller than the first preset distance.

[0034] The first calculation unit is used to calculate the number of times the lead screw moves in the opposite direction when the lead screw drives the rotating three-dimensional warehouse to start rotating;

[0035] The second calculation unit is used to multiply the second preset distance by the number of times the lead screw moves in the opposite direction to obtain the sum of the displacement of the reverse clearance and the back clearance.

[0036] In some implementations, the first computing module includes:

[0037] The first acquisition unit is used to acquire the number of rows and columns of the two teaching points respectively;

[0038] The third calculation unit is used to calculate the row spacing and column spacing of each of the storage locations based on the number of rows, the number of columns, and the spatial coordinates of the teaching points.

[0039] The second calculation module includes:

[0040] The fourth calculation unit is used to calculate the coordinates of each storage location in the rotating three-dimensional warehouse based on the row spacing, the column spacing, and the spatial coordinates of the teaching points.

[0041] The fifth calculation unit is used to calculate the actual coordinates of each storage location in the rotating three-dimensional warehouse based on the point coordinates and the compensation amount.

[0042] The present invention also provides a clamping method for a rotating automated warehouse, which, based on the method for calibrating the location of a rotating automated warehouse as described in any one of claims 1-5, further includes the following steps:

[0043] Send the actual location coordinates of the storage location to the control module;

[0044] The control module controls the robotic arm to move to the corresponding position based on the actual location coordinates and to pick up the items on the storage location.

[0045] The present invention also provides a rotating automated warehouse, characterized in that it includes a memory and a processor, wherein the memory is used to store an operating program, and the processor is used to load and execute the operating program to perform the operations performed by the rotating automated warehouse location calibration method described in any one of the above claims. The present invention also provides a rotating automated warehouse, including a memory and a processor, wherein the memory is used to store an operating program, and the processor is used to load and execute the operating program to perform the operations performed by the rotating automated warehouse location calibration method described in any one of claims 1-5.

[0046] The rotary automated warehouse, clamping method, warehouse location calibration method and system provided by the present invention have the following beneficial effects:

[0047] 1. This invention provides a rotating automated warehouse, a gripping method, a warehouse location calibration method and system. First, the sum of the displacement of the lead screw's reverse clearance and back clearance is obtained. Then, any two warehouse locations on the rotating automated warehouse are selected as teaching points, and the spatial coordinates of the teaching points are obtained. Subsequently, the row spacing and column spacing are calculated, and the actual coordinates of each warehouse location are obtained by calculating the row spacing, column spacing and compensation amount. In this way, the actual location of the items after the rotating automated warehouse stops can be accurately calculated without the need for manual teaching of the robotic arm module, which greatly shortens the calibration time and reduces the possibility of calibration deviation.

[0048] 2. The present invention provides a rotating automated warehouse, a gripping method, a warehouse location calibration method and system. A servo motor drives a lead screw to move a first preset distance in the forward direction, and then drives the lead screw to move a second preset distance in the reverse direction. The second preset distance is much smaller than the first preset distance. This action is repeated until the lead screw drives the pallet to rotate. The number of times the lead screw moves in the reverse direction when the rotating automated warehouse starts to rotate is calculated. The sum of the displacement of the reverse clearance and the back clearance is calculated. No other mechanical devices are required, resulting in high detection efficiency, high detection accuracy and convenient operation. Attached Figure Description

[0049] The preferred embodiments will now be described in a clear and easy-to-understand manner, with reference to the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of this solution.

[0050] Figure 1 This is an overall flowchart of a rotating three-dimensional warehouse location calibration method provided by the present invention;

[0051] Figure 2 This is a flowchart of step S1 of a rotating three-dimensional warehouse location calibration method provided by the present invention;

[0052] Figure 3 This is a flowchart of step S4 of the rotating three-dimensional warehouse location calibration method provided by the present invention;

[0053] Figure 4 This is a schematic diagram of a rotating three-dimensional warehouse location calibration system provided by the present invention;

[0054] Figure 5 This is a schematic diagram of a rotating three-dimensional warehouse storage location provided by the present invention.

[0055] Explanation of icon numbers:

[0056] First acquisition module 10, first control unit 11, second control unit 12, first calculation unit 13, second calculation unit 14, second acquisition module 20, first calculation module 30, first acquisition unit 31, third calculation unit 32, second calculation module 40, fourth calculation unit 41, fifth calculation unit 42, servo motor 50, lead screw 60, tray 70. Detailed Implementation

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0058] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0059] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0060] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0061] In one embodiment, a method for calibrating storage locations in a rotating automated warehouse is described. This method obtains the sum of the displacements of the reverse clearance and the back clearance. After the rotating automated warehouse completes its rotation, it acquires the spatial coordinates of the teaching points, calculates the row spacing and column spacing of the storage locations, and calculates the actual coordinates of each storage location based on the sum of the row spacing, column spacing, and displacement. This eliminates the need for staff to manually calibrate each location, resulting in higher work efficiency and lower costs.

[0062] Specifically, please refer to the accompanying drawings in the instruction manual. Figures 1 to 5 A method for calibrating storage locations in a rotating automated warehouse includes the following specific steps:

[0063] S1: Obtain the sum of the displacements of the reverse clearance and the back clearance of the rotating three-dimensional warehouse lead screw 60 as the compensation amount;

[0064] S2: When the pallet is rotated to face the direction of the robot arm picking up the material, select any two storage positions as teaching points and obtain the spatial coordinates of the two teaching points;

[0065] Specifically, the rotating automated warehouse has several pallets 70 arranged sequentially from top to bottom. Each pallet 70 has several items evenly arranged on it, and the point where each item is placed on the pallet 70 forms a storage location. It can be understood that when the pallet 70 rotates to a position directly facing the direction of the robotic arm's material handling, two storage locations are arbitrarily selected as teaching points. For ease of explanation, these two storage locations are not in the same row or column. Accordingly, a three-dimensional spatial coordinate system is established, representing any storage location in the rotating automated warehouse using coordinates within this system. Preferably, the base of the robotic arm can be used as the starting point of the three-dimensional spatial coordinate system, and the spatial coordinates of the two teaching points can be obtained.

[0066] S3: Calculate the row spacing and column spacing of adjacent storage locations in the rotating three-dimensional warehouse based on the spatial coordinates of the two teaching points;

[0067] Specifically, the storage locations are evenly distributed on the rotating automated warehouse. Therefore, the column spacing and row spacing calculated using the spatial coordinates of two teaching points are applicable to any storage location.

[0068] S4: Calculate the actual coordinates of each storage location in the rotating three-dimensional warehouse based on the row spacing, column spacing, and compensation amount.

[0069] For ease of explanation, the sum of the displacements of the reverse clearance and the back clearance, i.e., the compensation amount, is represented by E. The positions of all items in the rotating automated warehouse are represented by matrix A, and a is used. ij Let represent any element in matrix A, that is, any stored item placed in the rotating automated warehouse. Let i represent the item in the i-th row of the rotating automated warehouse, j represent the item in the j-th column of the rotating automated warehouse, and a ij Let represent the item in the i-th row and j-th column of the rotating automated warehouse. Therefore, the actual coordinates of any element in the rotating automated warehouse can be represented as a. ij (x aij ,y aij ,z aij ).

[0070] Furthermore, the two teaching points are respectively set as a 1m ,a m1 This represents any two items in the rotating automated warehouse. When pallet 70 stops moving, the teaching point 'a' is obtained. 1m,a m1 Spatial coordinates, teaching point a 1m This represents the item in the 1st row and mth column of the rotating 3D warehouse, with teaching point a. m1 This represents the item in the m-th row and 1-th column of the rotating automated warehouse. It can be understood that the teaching point a... 1m ,a m1 The points are the actual locations of the two items, thus obtaining the spatial coordinates a of the two teaching points. 1m (x 1m ,y 1m ,z 1m ),a m1 (x m1 ,y m1 ,z m1 After obtaining the spatial coordinates of the two teaching points, calculate the row spacing dz and column spacing dx of each storage location in the rotating automated warehouse.

[0071] Understandably, during the rotation of pallet 70, the positions of the items in the x-axis and z-axis directions will change, but their positions in the z-axis direction will remain unchanged. When pallet 70 rotates to face the direction of the robotic arm's picking up, the robotic arm grasps the items on pallet 70, and the position of the items in the y-axis direction remains fixed. The position 'a' of each item... ij (x aij ,y aij ,z aij Only need to obtain x aij ,z aij , and y aij The data is known.

[0072] In this embodiment, a method is provided to obtain the sum E of the displacements of the reverse clearance and the back clearance. Furthermore, reverse clearance compensation, back clearance compensation, and matrix point-position calculations are combined to compensate the reverse clearance and back clearance into the point position of any element in matrix A. Therefore, the point position of the item obtained by this method is more accurate, and the operator only needs to measure two teaching points a. 1m ,a m1 The system can accurately pinpoint the location of each item, eliminating the need for manual instruction of the robotic arm to locate each item. This significantly reduces time, increases detection efficiency, and lowers the possibility of errors caused by manual calibration.

[0073] In one embodiment, see the accompanying drawings. Figure 2 This embodiment further describes how to obtain the sum of the displacements of the reverse clearance and the back clearance of the rotating three-dimensional warehouse screw 60 as the compensation amount. Specifically, the steps for obtaining the sum of the displacements of the reverse clearance and the back clearance of the rotating three-dimensional warehouse screw 60 as the compensation amount include the following:

[0074] S11: Control the servo motor 50 to drive the lead screw 60 to move a first preset distance in the positive direction;

[0075] S12: Control the servo motor 50 to drive the lead screw 60 to move in the opposite direction, each time moving a second preset distance, and calculate the number of times the lead screw 60 is controlled to move in the opposite direction when the lead screw 60 drives the rotating three-dimensional warehouse to start rotating;

[0076] S13: Multiply the second preset distance by the number of times the lead screw 60 moves in the opposite direction to obtain the sum of the displacement of the reverse clearance and the back clearance, which is E = n*δ;

[0077] Where E is the sum of the displacements of the reverse clearance and the back clearance, n is the number of times the lead screw moves in the opposite direction, and δ is the second preset distance.

[0078] Specifically, the user starts the servo motor 50 of the rotating automated warehouse, which drives the lead screw 60 to move forward a first preset distance. Then, the servo motor 50 stops running and is then driven to move backward a second preset distance, denoted as δ. After moving backward a second preset distance δ, the user observes whether the lead screw 60 rotates the pallet 70. If the pallet 70 does not rotate, this action is repeated until the lead screw 60 starts to rotate the pallet 70. The number of times the servo motor 50 drives the lead screw 60 to move backward n times is calculated. Accordingly, the sum of the displacements of the reverse clearance and the back clearance is calculated, E. E is obtained by multiplying n and δ, thus yielding Equation 1: E = n * δ.

[0079] Preferably, the second preset distance δ of the lead screw 60 moving backward each time driven by the servo motor 50 is much smaller than the first preset distance of the lead screw 60 moving forward driven by the servo motor 50. In this way, the calculation accuracy of the sum of the displacements E of the reverse clearance and the back clearance can be improved.

[0080] In one embodiment, see the accompanying drawings. Figure 3 This embodiment provides a detailed explanation of S3: calculating the row and column spacing of adjacent storage locations in the rotating automated warehouse based on the spatial coordinates of the two teaching points. Specifically, calculating the row and column spacing of adjacent storage locations in the rotating automated warehouse based on the spatial coordinates of the two teaching points includes the following specific steps:

[0081] S31: Obtain the row and column numbers of the two teaching points respectively;

[0082] S32: Calculate the row spacing and column spacing of adjacent storage locations based on the row number, column number, and spatial coordinates of the teaching point, using the following formula:

[0083] dz=(z m1 -z 1m ) / m-1;dx=(x1m -x m1 ) / m-1;

[0084] Where dz is the row spacing, dx is the column spacing, and z is the column spacing. m1 , z 1m These are the spatial coordinates of the two teaching points on the Z-axis, x and x'. 1m x m1 These are the values ​​of the spatial coordinate system of the two teaching points on the X-axis. The number of rows and columns of one teaching point is m and 1, respectively, and the number of rows and columns of the other teaching point is 1 and m, respectively.

[0085] Specifically, in this embodiment, it is assumed that the row spacing between adjacent pallets 70 is equal, and the column spacing between adjacent storage locations is equal. To calculate the row spacing dz and column spacing dx between two storage locations, two teaching points a need to be obtained. 1m ,a m1 In addition to the distances on the x-axis and z-axis, we also need to obtain the number of rows and columns of the two teaching points, and then calculate the row distance dz and column distance dx based on the number of rows, columns and spatial coordinates.

[0086] For ease of explanation, let's consider teaching point a. 1m This represents the item in row 1, column m, with teaching point a. m1 This represents the item in the m-th row and 1-th column. Accordingly, based on a... 1m (x 1m ,y 1m ,z 1m ),a m1 (x m1 ,y m1 ,z m1 Based on the location of the point, determine the z-axis coordinate of the m-th row of the rotating automated warehouse as z. m1 The z-axis coordinate of the first row is z 1m The distance z between the m-th row and the 1st row can be obtained. m1 -z 1m Accordingly, there are a total of m-1 intervals from the m-th row to the 1st row. Therefore, the row spacing can be obtained by dividing the distance between the m-th row and the 1st row by the m-1 intervals.

[0087] Equation 2: dz=(z m1 -z 1m ) / m-1;

[0088] Similarly, the x-coordinate of the m-th column of the rotating automated warehouse is x. 1m The x-coordinate of the first column is x m1 This gives us the distance x between column m and column 1. 1m -x m1Correspondingly, there are a total of m-1 intervals between column 1 and column m. Therefore, the column spacing can be obtained by dividing the distance between column m and column 1 by the m-1 intervals.

[0089] Equation 3: dx=(x 1m -x m1 ) / m-1.

[0090] In one embodiment, see the appendix to the specification. Figure 3 This embodiment further describes S4: calculating the actual coordinates of each storage location in the rotating automated warehouse based on the row spacing, column spacing, and compensation amount. Specifically, S4: calculating the actual coordinates of each storage location in the rotating automated warehouse based on the row spacing, column spacing, and compensation amount includes the following steps:

[0091] S41: Calculate the coordinates of each storage location in the rotating three-dimensional warehouse based on the row spacing, column spacing, and spatial coordinates of the teaching points;

[0092] S42: Calculate the actual coordinates of each storage location in the rotating three-dimensional warehouse based on the point coordinates and the compensation amount.

[0093] For S41: To obtain the location coordinates of each storage location, we need to use element a. m1 Establish a corresponding coordinate system for the starting point of the two-dimensional coordinate system, with the m-th row as the x-axis and the 1st column as the y-axis. Correspondingly, a 1m Located in a two-dimensional coordinate system. Teaching point a 1m ,a m1 All are within a two-dimensional coordinate system, with teaching point a. 1m ,a m1 The line connecting the two axes is set to L, and the angle between the line L and the y-axis of the two-dimensional coordinate system is set to α. The angle α is then calculated based on the row spacing dz, column spacing dx, and the angle α. i1 (x ai1 ,y ai1 ,z ai1 The coordinates of the point.

[0094] Understandably, to obtain the specific magnitude of α, the tangent value of α, dx / dz, is calculated. The row spacing dz and column spacing dx are calculated using equations 2 and 3, respectively. After obtaining the tangent value of the included angle α, the magnitude of the included angle α is obtained using the inverse function. The formula for calculating the angle α between the line L and the two-dimensional coordinate y-axis is as follows:

[0095] Formula 4: α=arctan(dx / dz)=arctan[(x 1m -x mi ) / z m1 -z1m )).

[0096] Furthermore, based on the existing teaching points a m1 (x m1 ,y m1 ,z m1 y in ) m1 Let a be the y-axis coordinate. i1 This represents the item in the i-th row and 1-th column of the rotating warehouse. i1 With a m1 There are im line spacings dz between them, and correspondingly, a i1 With a m1 The vertical distance between them is dz*(im), therefore, z m1 Adding y to the im row spacing dz gives y ai1 Accordingly, y m1 Given that dz can be calculated from Equation 2 as (z m1 -z 1m ) / m-1, from which we can obtain

[0097] Equation 5: z ai1 =z m1 +dz*(im)=y m1 +(im)(z m1 -z 1m ) / m-1.

[0098] Furthermore, specifically, z can be obtained from Equation 5. ai1 Through z ai1 Multiplying by the tangent of α gives x. ai1 tanα=(x 1m -x mi ) / (z m1 -z 1m Substituting into equation 5, we can obtain...

[0099] Equation 6: x ai1 =z ai1 *tanα=[z m1 *(x 1m -x mi )] / (z m1 -z 1m )+(im) / (x 1m -x mi (m-1). Accordingly, y ai1 It is known that a can be obtained from equations 4 and 5. i1 (x ai1 ,y ai1 ,z ai1 ( ) points.

[0100] It is understandable that the values ​​of i and m are unknown. If i is greater than m, then a i1 The item indicated is located in a m1 The area above the item is indicated by `im`, where `im` is a positive value and `dz*(im)` is also a positive value. Correspondingly, if `i` is less than `m`, i.e., `a`... i1 The item indicated is located in a m1 Below the item, im is a negative value, and dz*(im) is also a negative value.

[0101] a i1 (x ai1 ,y ai1 ,z ai1 The point shown is only the coordinates of the item in the i-th row and 1-th column. We also need to calculate the coordinates of the entire rotating warehouse location. Let's define the coordinates of the entire rotating warehouse location as a. ij (X aij ,Y aij Z aij Specifically, a ij This represents the item in the i-th row and j-th column of the rotating warehouse. i1 Let represent the item in the i-th row and 1-th column of the rotating warehouse. There are j-1 column distances dx between the j-th column and the 1st column, and 'a' can be calculated by dx*(j-1). i1 With a ij The difference in coordinates on the x-axis will make a i1 With a ij The difference in coordinates on the x-axis and x ai1 Add them together to get x aij You can get

[0102] Formula 7: X aij =x ai1 +dx*(j-1).

[0103] Similarly, a ij Let a represent the item in the i-th row and j-th column of the rotating warehouse. i1 This represents the item in the i-th row and 1-th column of the rotating warehouse. ij With a i1 Located in the same row, that is, on the same tray 70, therefore we can obtain

[0104] Equation 8: Z aij =z ai1 =z m1 +(im)(z m1 -z 1m ) / m-1.

[0105] For S42: After obtaining the location coordinates of each storage location, the actual location coordinates are calculated using the compensation amount E. The actual location coordinates are a. ij (x aij ,y aij ,z aij ).

[0106] For the x in the actual point coordinates aij It can be determined by the compensation amount E and X aij By adding them together, we can obtain the result.

[0107] Equation 9: x aij =E+X aij =E+x ai1 +dx*(j-1).

[0108] For the z in the actual point coordinates aij It can be determined by the compensation amounts E and Z aij By adding them together, we can obtain the result.

[0109] Equation 10: z aij =E+Z aij =z ai1 =z m1 +(im)(z m1 -z 1m ) / m-1, for y aij What is known can be obtained by staff through measurement.

[0110] In one embodiment, this embodiment also provides a clamping method for a rotating automated warehouse, which, based on the rotating automated warehouse location calibration method provided in any of the above embodiments, further includes the following steps:

[0111] Send the actual coordinates of the storage location to the control module;

[0112] The control module controls the robotic arm to move to the corresponding position based on the actual coordinates and to pick up the items in the storage location.

[0113] Understandably, after obtaining the actual coordinates of each storage location in the rotating automated warehouse using a storage location calibration method, the data information of the actual location coordinates is transmitted to the control module. After receiving the relevant data information, the control module controls the robotic arm to move to the corresponding position, and the robotic arm picks up the items in the storage location according to the actual location coordinates.

[0114] In one embodiment, see the accompanying drawings. Figure 4This embodiment provides a rotary automated warehouse location calibration system, applicable to a rotary automated warehouse location calibration method, including: a first acquisition module 10, a second acquisition module 20, a first calculation module 30, and a second calculation module 40. The first acquisition module 10 is used to acquire the sum of the displacements of the reverse clearance and the back clearance of the rotary automated warehouse lead screw 60, as a compensation amount E. Accordingly, the first acquisition module 10 includes a first control unit 11, a second control unit 12, a first calculation unit 13, and a second calculation unit 14. The first control unit 11 controls the servo motor 50 to move the lead screw 60 forward a first preset distance. The second control unit 12 controls the servo motor 50 to move the lead screw 60 in the reverse direction, each time the lead screw 60 moves a second preset distance much smaller than the first preset distance. The first calculation unit 13 calculates the number of times the lead screw 60 moves in the reverse direction when the rotary automated warehouse starts to rotate. The second calculation unit 14 multiplies the second preset distance by the number of times the lead screw 60 moves in the reverse direction to obtain the compensation amount E.

[0115] Accordingly, when the rotating automated warehouse stops, the second acquisition module 20 is used to arbitrarily select two teaching points. The spatial coordinates of the two teaching points can be obtained directly by the second acquisition module 20, or they can be measured by the staff and transmitted to the second acquisition module 20.

[0116] Accordingly, after the second acquisition module 20 acquires the corresponding data, the first calculation module 30 calculates the row spacing and column spacing of each storage location in the rotating three-dimensional warehouse based on the spatial coordinates of the two teaching points, and the second calculation module 40 calculates the actual point coordinates of each storage location based on the row spacing, column spacing and compensation amount.

[0117] Further, the first calculation module 30 includes a first acquisition unit 31 and a third calculation unit 32. The first acquisition unit 31 is used to acquire the number of rows and columns of the two teaching points, respectively. The third calculation unit 32 is used to calculate the row spacing dz and column spacing dx of each storage location based on the row spacing dz, column spacing dx, and spatial coordinates of the teaching points. The second calculation module 40 includes a fourth calculation unit 41 and a fifth calculation unit 42. The fourth calculation unit 41 is used to calculate the point coordinates of each storage location in the rotating automated warehouse based on the row spacing dz, column spacing dx, and spatial coordinates of the teaching points. The fifth calculation unit 42 is used to calculate the actual point coordinates of each storage location in the rotating automated warehouse based on the point coordinates and the compensation amount E.

[0118] In one embodiment, this embodiment also provides a rotating automated warehouse, which further includes a memory and a processor. The memory is used to store a running program, and the processor is used to load and execute the running program, thereby realizing the operations performed by the rotating automated warehouse location calibration method as described in any of the above embodiments.

[0119] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for calibrating storage locations in a rotating automated warehouse, characterized in that, Includes the following steps: The sum of the displacements of the reverse clearance and the back clearance of the rotating three-dimensional warehouse screw is obtained as the compensation amount; When the pallet is rotated to face the direction of the robot arm picking up the material, two storage positions are randomly selected as teaching points, and the spatial coordinates of the two teaching points are obtained; The row and column spacing of adjacent storage locations in the rotating automated warehouse are calculated based on the spatial coordinates of the two teaching points. The actual coordinates of each storage location in the rotating three-dimensional warehouse are calculated based on the row spacing, column spacing, and compensation amount.

2. The method for calibrating the location of a rotating automated warehouse according to claim 1, characterized in that, The specific steps for obtaining the sum of the reverse clearance and back clearance displacements of the rotating three-dimensional warehouse lead screw as the compensation amount include: The servo motor is controlled to move the lead screw a first preset distance in the positive direction; The servo motor is controlled to drive the lead screw to move in the opposite direction, moving a second preset distance each time. The number of times the lead screw is controlled to move in the opposite direction when the rotating three-dimensional warehouse starts to rotate is calculated. Multiplying the second preset distance by the number of times the lead screw moves in the opposite direction, the sum of the displacements of the reverse clearance and the back clearance is E = n * δ; Where E is the sum of the displacements of the reverse clearance and the back clearance, n is the number of times the lead screw moves in the opposite direction, and δ is the second preset distance.

3. The method for calibrating the location of a rotating automated warehouse according to claim 2, characterized in that, The second preset distance is much smaller than the first preset distance.

4. The method for calibrating the location of a rotating automated warehouse according to claim 1, characterized in that, The calculation of the row and column spacing of adjacent storage locations in the rotating automated warehouse based on the spatial coordinates of the two teaching points specifically includes the following steps: Obtain the row and column numbers of the two teaching points respectively; The row spacing and column spacing of adjacent storage locations are calculated based on the row number, column number, and spatial coordinates of the teaching points, using the following formula: dz=(z m1 -z 1m ) / m-1;dx=(x 1m -x m1 ) / m-1; Where dz is the row spacing, dx is the column spacing, and z is the column spacing. m1 , z 1m These are the spatial coordinates of the two teaching points on the Z-axis, x and x'. 1m x m1 These are the values ​​of the spatial coordinate system of the two teaching points on the X-axis. The number of rows and columns of one teaching point is m and 1, respectively, and the number of rows and columns of the other teaching point is 1 and m, respectively.

5. The method for calibrating the location of a rotating automated warehouse according to claim 1, characterized in that, The specific steps for calculating the actual coordinates of each storage location in the rotating automated warehouse based on the row spacing, column spacing, and compensation amount include: The coordinates of each storage location in the rotating automated warehouse are calculated based on the row spacing, the column spacing, and the spatial coordinates of the teaching points. The actual coordinates of each storage location in the rotating automated warehouse are calculated based on the location coordinates and the compensation amount.

6. A rotating automated warehouse location calibration system, characterized in that, include: First acquisition module, second acquisition module, first calculation module and second calculation module; The first acquisition module is used to obtain the sum of the displacement of the reverse clearance and the back clearance of the rotating three-dimensional warehouse screw, as a compensation amount; The second acquisition module is used to select any two of the storage locations as teaching points when the rotating three-dimensional warehouse stops, and to acquire the spatial coordinates of the two teaching points. The first calculation module is used to calculate the row spacing and column spacing of each storage location in the rotating three-dimensional warehouse based on the spatial coordinates of the two teaching points; The second calculation module is used to calculate the actual coordinates of each storage location in the rotating three-dimensional warehouse based on the row spacing, the column spacing, and the compensation amount.

7. A rotary automated warehouse location calibration system according to claim 6, characterized in that, The first acquisition module includes: The first control unit is used to control the servo motor to drive the lead screw to move a first preset distance in the positive direction; The second control unit is used to control the servo motor to drive the lead screw to move in the opposite direction, moving a second preset distance each time; the second preset distance is much smaller than the first preset distance. The first calculation unit is used to calculate the number of times the lead screw moves in the opposite direction when the lead screw drives the rotating three-dimensional warehouse to start rotating; The second calculation unit is used to multiply the second preset distance by the number of times the lead screw moves in the opposite direction to obtain the sum of the displacement of the reverse clearance and the back clearance.

8. A rotary automated warehouse location calibration system according to claim 6, characterized in that, The first computing module includes: The first acquisition unit is used to acquire the number of rows and columns of the two teaching points respectively; The third calculation unit is used to calculate the row spacing and column spacing of each of the storage locations based on the number of rows, the number of columns, and the spatial coordinates of the teaching points. The second calculation module includes: The fourth calculation unit is used to calculate the coordinates of each storage location in the rotating three-dimensional warehouse based on the row spacing, the column spacing, and the spatial coordinates of the teaching points. The fifth calculation unit is used to calculate the actual coordinates of each storage location in the rotating three-dimensional warehouse based on the point coordinates and the compensation amount.

9. A gripping method for a rotating automated warehouse, characterized in that, Based on the method for calibrating the location of a rotating automated warehouse as described in any one of claims 1-5, the method further includes the following steps: Send the actual location coordinates of the storage location to the control module; The control module controls the robotic arm to move to the corresponding position based on the actual location coordinates and to pick up the items on the storage location.

10. A rotating automated warehouse, characterized in that, It includes a memory and a processor, the memory being used to store a running program, and the processor being used to load and execute the running program to perform the operations performed by the automated warehouse location calibration method as described in any one of claims 1-5.

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