A fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device

Abstract

The present invention relates to the field of storage cabinet conveying and positioning technology, specifically a fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device, used for storage cabinet conveying equipment conveying and positioning, including a transverse guide rod for guiding the transverse and longitudinal displacement of the gear, a longitudinal guide rod, a transverse feed system, and a longitudinal feed system; the transverse feed system includes a transverse motor group, a transverse displacement sensor, and a transverse positioning rod; the longitudinal feed system includes a storage box, a bracket, a longitudinal positioning rod, and a longitudinal displacement sensor. The present invention completes bidirectional positioning from "encoder soft positioning" to "mechanical hard locking" by plugging and matching the transverse and longitudinal positioning rods with the positioning slots, achieving the technical effect of reducing the self-locking energy consumption of the motor and eliminating the positioning deviation caused by long-term load. By bidirectional data fusion of the incremental encoder and the displacement sensor, redundant verification and dynamic correction are completed, achieving the technical effect of improving the transverse and longitudinal positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of storage cabinet conveying and positioning, and in particular to a fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device. Background Art

[0002] Fully automatic storage cabinets are key equipment in modern warehousing, enabling automated warehouse operations. They are mainly divided into vertical circulation cabinets, vertical lifting cabinets, and horizontal circulation cabinets.

[0003] Application number CN202121768040.2 discloses a closed-loop control positioning device for storage cabinet gears and incremental rotary encoders, comprising a load-bearing component and a motor. The motor is fixedly mounted above the load-bearing component, a driving gear is mounted at the bottom of the motor, and a driven gear meshing with the driving gear is fixedly mounted inside the load-bearing component. An encoder is fixedly connected to the bottom of the driven gear through a flat plate, and a closed-loop motor encoder is mounted near the top of the motor. The encoder and closed-loop motor encoder respectively measure the speed data of the driven gear and the driving gear. After comparison, the precise position of the two gears can be obtained, achieving bidirectional positioning, and accurately locating the fault location in a timely manner, facilitating maintenance.

[0004] Traditional cabinet positioning systems rely on closed-loop control between motors and encoders, maintaining position through motor self-locking. However, over long periods of operation, motor self-locking can easily lead to positioning errors due to gear wear, current fluctuations, or mechanical backlash. Continuous self-locking also consumes a lot of energy and causes significant motor heat generation. Furthermore, the horizontal transport distance of goods is limited by the mechanical structure, making it difficult to adapt to deep cabinets. Summary of the Invention

[0005] In order to overcome the defects in the prior art, the purpose of the present invention is to provide a fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device, which achieves high-precision, low-energy consumption, failure-resistant omnidirectional positioning and long-distance transportation by integrating encoder closed-loop control, displacement sensor redundancy check and mechanical clamping locking, combined with modular transmission design, to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned object, the present invention provides a fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device for storage cabinet conveying equipment conveying positioning, comprising a transverse guide rod for guiding the transverse displacement of the gear, a longitudinal guide rod for guiding the longitudinal displacement of the gear, a transverse feed system installed on the side of the transverse guide rod, and a longitudinal feed system installed on the side of the longitudinal guide rod;

[0007] The lateral feed system includes a lateral motor group, a lateral displacement sensor pointing to the top surface of the lateral guide rod, and a lateral positioning rod plugged into the top of the lateral guide rod, the lateral displacement sensor is used to measure the lateral displacement and trigger the positioning of the lateral positioning rod, the lateral motor group is composed of a top plate, a motor, and a gear, an incremental rotary encoder is installed at the end of the motor, the motor and the gear are connected through a reduction gear box, and the gear is meshed with a rack on the rear side of the top surface of the lateral guide rod, wherein the top plate is located on the top surface of the lateral guide rod and a lateral slide is welded to the front end of the top plate to slide and engage with the lateral guide rod, the lateral slide is uprightly arranged on the front side of the lateral guide rod and is fixedly connected to the longitudinal guide rod;

[0008] The longitudinal feeding system includes a storage box, a bracket for supporting the sliding of the storage box, and a longitudinal motor group suspended below the bracket, which is used to drive the vertical movement of the bracket. A longitudinal positioning rod is provided on one side of the longitudinal motor group and is positioned and plugged into the longitudinal guide rod. A longitudinal displacement sensor is installed at the rear end of the bracket and close to the longitudinal guide rod to measure the vertical displacement and trigger the positioning of the longitudinal positioning rod.

[0009] The above setting adds a lateral displacement sensor to the existing lateral and longitudinal transportation of goods to measure the lateral displacement and trigger positioning. Combined with the original incremental rotary encoder to monitor the number of rotations of the motor gear, it triggers the motor self-locking to perform bidirectional positioning, and transports the goods horizontally to the preset target position of the system. It realizes the dual fixation from "soft positioning" relying on motor control to "hard locking" of mechanical fixation, reduces the energy consumption of motor self-locking and prevents the problem of positioning deviation caused by long-term pressure of the motor self-locking mechanism, and significantly improves the reliability and life of the storage cabinet positioning system.

[0010] As a further improvement of the present technical solution, a plurality of transverse positioning grooves are provided at equal intervals on the rear side of the top surface of the transverse guide rod, and the transverse positioning rods are plugged into and matched with the transverse positioning grooves.

[0011] This setting is a mechanical fixation technology that uses a positioning rod and a horizontal positioning groove plug-in technology.

[0012] As a further improvement of the present technical solution, rollers are rotatably embedded at the corners of the transverse slides facing the side of the transverse guide rods, and the upper and lower layers of rollers clamp the upper and lower convex strips of the transverse guide rods and roll laterally.

[0013] This arrangement uses a transverse slide as a platform for transverse conveying movement by combining rollers with directional rolling clamping of transverse guide rods.

[0014] As a further improvement of the present technical solution, a servo electric cylinder is coaxially mounted on one end of the transverse positioning rod and the longitudinal positioning rod to drive the transverse positioning rod and the longitudinal positioning rod to move in telescopic manner.

[0015] This setting receives the sensor signal through the servo electric cylinder and triggers the positioning rod to position instantly.

[0016] As a further improvement of the present technical solution, a feed rod is fixedly connected to the left and right sides of the longitudinal guide rod, and a number of longitudinal positioning grooves are provided on the side walls of the feed rod at equal intervals. The longitudinal positioning rod is plugged into the longitudinal positioning grooves, and a longitudinal slide is vertically welded on the bottom surface of the bracket for guiding the extension and retraction of the longitudinal positioning rod. Rollers are embedded in the longitudinal slides that rotate toward the corners of the side walls of the longitudinal guide rod, and each pair of rollers on the left and right sides are clamped and rolled in connection with the feed rod.

[0017] This arrangement uses the longitudinal slide as a platform for longitudinal conveying movement by combining rollers with directional rolling clamping of the longitudinal guide rods.

[0018] As a further improvement of the present technical solution, an active frame is slidably connected to the bottom of the storage box, and the active frame is slidably connected to the top of the bracket. A pair of pull ropes are wrapped around the front and rear ends of the active frame, and the pair of pull ropes are symmetrically arranged in opposite directions. A servo motor for driving the horizontal movement of the active frame is installed at the bottom front end of the bracket, and an incremental rotary encoder is installed at the end of the servo motor. The front and rear end side walls of the bracket are embedded with lateral displacement sensors for measuring the displacement of the active frame and triggering the servo motor to self-lock.

[0019] As a further improvement of this technical solution, the longitudinal motor group consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of the motor. The motor and the gear are connected through a reduction gear box, and the gear is engaged with the rack on the front side of the longitudinal guide rod to drive the storage box up and down.

[0020] The above setting completes the positioning of horizontally transported goods through bidirectional data fusion of incremental encoder and displacement sensor.

[0021] As a further improvement of the present technical solution, the output shaft end coaxial sleeve of the servo motor is provided with a sprocket, and a sprocket is installed at the rear end of the bracket, a chain is engaged between the two sprockets, and the two adjacent rotating pin side ends of the chain are provided with clamping columns, and the front and rear end bottom surfaces of the active frame are both connected with push rods, and the two clamping columns are engaged with the lower half of the push rod for transmission.

[0022] As a further improvement of the present technical solution, a pair of ring blocks are embedded in the front and rear ends and on different sides of the active frame, and a pulley is rotatably connected between each pair of ring blocks. The pull rope is correspondingly sleeved on the pulley, and the upper and lower ends of the pull rope are tightly sleeved with pull blocks. The pull block located above is fixedly connected to the bottom surface of the storage box, and the pull block located below is fixedly connected to the bottom surface of the active frame.

[0023] As a further improvement of the present technical solution, a sliding rod is fixedly connected to the inner side of the bottom of the storage box, a sliding rod is fixedly connected to the inner side of the top of the bracket, and the outer walls on both sides of the active frame are fixedly connected with sliding rods in an upper and lower manner. The sliding rod located above is slidably connected to the sliding rod on the storage box, and the sliding rod located below is slidably connected to the sliding rod on the bracket.

[0024] The above setting doubles the horizontal extension distance of the storage box through a composite transmission design of chains, clamping columns, pull ropes and pulleys, achieving the technical effect of adapting to deep storage cabinets and reducing the equipment footprint.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. This fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning equipment completes bidirectional positioning from "encoder soft positioning" to "mechanical hard locking" through the plug-in cooperation of transverse and longitudinal positioning rods and positioning slots, achieving the technical effect of reducing motor self-locking energy consumption and eliminating positioning deviation caused by long-term load. Through the bidirectional data fusion of the incremental encoder and displacement sensor, redundant verification and dynamic correction are completed, achieving the technical effect of improving transverse and longitudinal positioning accuracy.

[0027] 2. This fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning equipment, through the composite transmission design of chain, clamp column, pull rope and pulley, doubles the horizontal extension distance of the storage box, achieving the technical effect of adapting to deep storage cabinets and reducing the equipment footprint.

[0028] 3. The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning equipment, through the modular horizontal and vertical feed system separation design, completes the equipment's rapid disassembly and maintenance, achieving the technical effect of shortening fault repair time and being compatible with the transformation of storage cabinets of multiple specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the drawings are merely illustrative and are used to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art will select various possible shapes and proportional dimensions to implement the present invention according to the specific circumstances under the guidance of the present invention.

[0030] Figure 1 This is a schematic diagram of the overall assembly structure of the storage cabinet conveying equipment of the present invention;

[0031] Figure 2 This is a schematic diagram of the assembly structure of the transverse feed system of the present invention;

[0032] Figure 3This is a schematic diagram of the assembly structure of the longitudinal feeding system of the present invention;

[0033] Figure 4 It is a side view of the longitudinal feed system of the present invention;

[0034] Figure 5 It is a front view of the longitudinal feed system of the present invention;

[0035] Figure 6 This is a schematic diagram of the assembly structure of the longitudinal feed system of the present invention from an upward perspective;

[0036] Figure 7 It is an exploded view of the longitudinal feed system of the present invention;

[0037] The meaning of each number in the figure is:

[0038] 100, transverse guide rod; 101, transverse positioning groove; 110, longitudinal guide rod; 111, feed rod; 112, longitudinal positioning groove; 113, longitudinal slide; 114, longitudinal motor unit; 115, longitudinal positioning rod; 120, transverse slide; 121, roller;

[0039] 200, lateral feed system; 210, lateral motor group; 220, lateral displacement sensor; 230, servo cylinder; 240, lateral positioning rod;

[0040] 300, longitudinal feed system; 310, storage box; 311, slide rod; 320, active frame; 321, push rod; 322, ring block; 323, sliding rod; 330, bracket; 340, pull rope; 341, pull block; 342, pulley; 350, servo motor; 351, chain; 352, clamping column; 360, longitudinal displacement sensor. DETAILED DESCRIPTION

[0041] The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are for illustrative purposes only and are not to be construed as limiting the present invention in any way. Under the guidance of the present invention, any possible variations of the present invention conceived by skilled artisans should be considered within the scope of the present invention. The terms "mounted" and "connected" should be understood broadly, meaning direct connection as well as indirect connection through an intermediary.

[0042] The terms "central axis," "vertical," "horizontal," "front," "back," "up," "down," "left," "right," "top," "bottom," "inside," and "outside" used herein to indicate positions or location relationships are based on the positions or location relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, in the description of the present invention, "several" means two or more, unless otherwise specifically defined.

[0043] See also Figure 1-Figure 2 As shown, the present invention provides a fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device, which is used for storage cabinet conveying equipment conveying positioning to ensure that the goods are transported to the storage cabinet, including a transverse guide rod 100 for guiding the transverse displacement of the gear, a longitudinal guide rod 110 for guiding the longitudinal displacement of the gear, a transverse feed system 200 installed on the side of the transverse guide rod 100, and a longitudinal feed system 300 installed on the side of the longitudinal guide rod 110; the longitudinal guide rod 110 is driven to move transversely along the transverse guide rod 100 by the transverse feed system 200, and the goods are driven to move vertically along the longitudinal guide rod 110 by the longitudinal feed system 300, and the goods are delivered into the storage cabinet at one side of the entrance. This is a prior art and will not be described in detail here.

[0044] Specifically, the transverse feed system 200 includes a transverse motor group 210, a transverse displacement sensor 220 pointing to the top surface of the transverse guide rod 100, and a transverse positioning rod 240 plugged into the top of the transverse guide rod 100. The transverse displacement sensor 220 is used to measure the transverse displacement and trigger the transverse positioning rod 240 to position. The transverse motor group 210 consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of the motor. The motor and the gear are connected through a reduction gear box, and the gear is meshed with a rack on the rear side of the top surface of the transverse guide rod 100. The incremental rotary encoder monitors the number of rotations of the motor gear to perform preliminary positioning, triggering the motor to self-lock. Combined with the displacement measured by the transverse displacement sensor 220, bidirectional positioning is achieved, and the goods are transported horizontally to the system's preset target position, such as the access point of a storage cabinet.

[0045] A number of transverse positioning grooves 101 are provided at equal intervals on the rear side of the top surface of the transverse guide rod 100, and the transverse positioning rod 240 is plugged into and matched with the transverse positioning grooves 101; each transverse positioning groove 101 corresponds to a row of access points, and the transverse positioning rod 240 is triggered by the transverse displacement sensor 220 to be positioned in the transverse positioning groove 101 outside a certain access point, realizing dual fixation from "soft positioning" relying on motor control to "hard locking" relying on mechanical fixation, reducing the energy consumption of motor self-locking and preventing the problem of positioning deviation caused by long-term pressure on the motor self-locking mechanism, and significantly improving the reliability and life of the storage cabinet positioning system.

[0046] Furthermore, the top plate is located on the top surface of the transverse guide rod 100, and a transverse slide 120 is welded to the front end of the top plate and is slidably engaged with the transverse guide rod 100. The transverse slides 120 are rotatably embedded with rollers 121 at the corners of the side of the transverse guide rod 100. The upper and lower layers of rollers 121 clamp the upper and lower convex strips of the transverse guide rod 100 and roll and move horizontally. The transverse slide 120, the top plate and the motor gear roll on the transverse guide rod 100 to form a stable transverse motion platform.

[0047] Specifically, such as Figure 3-Figure 7 As shown, the longitudinal feeding system 300 includes a storage box 310, a bracket 330 for supporting the sliding of the storage box 310, and a longitudinal motor group 114 suspended below the bracket 330, which is used to drive the bracket 330 to move vertically. A longitudinal positioning rod 115 is provided on one side of the longitudinal motor group 114 and is positioned and plugged with the longitudinal guide rod 110. A longitudinal displacement sensor 360 is installed at the rear end of the bracket 330 and close to the longitudinal guide rod 110 for measuring the vertical displacement and triggering the positioning of the longitudinal positioning rod 115; the longitudinal motor group 114 consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of this motor. The motor and the gear are connected through a reduction gear box, and this gear is engaged with the rack at the front side of the longitudinal guide rod 110 to drive the storage box 310 to move up and down; the transverse slide 120 is upright on the front side of the transverse guide rod 100 and is fixedly connected to the longitudinal guide rod 110; thereby driving the longitudinal guide rod 110 to move horizontally.

[0048] The incremental rotary encoder monitors the number of rotations of the motor gear for preliminary positioning, triggering the motor to self-lock. Combined with the displacement measured by the longitudinal displacement sensor 360, bidirectional positioning is achieved, and the goods are transported longitudinally to the system's preset target position, such as the access point of a storage cabinet.

[0049] Furthermore, the left and right sides of the longitudinal guide rod 110 are fixedly connected with a feed rod 111, and the side walls of the feed rod 111 are evenly spaced with a plurality of longitudinal positioning grooves 112 corresponding to a row of access point positions; the longitudinal positioning rod 115 is correspondingly plugged into the longitudinal positioning groove 112; the bottom surface of the bracket 330 is vertically welded with a longitudinal slide 113 for guiding the extension and contraction of the longitudinal positioning rod 115, the longitudinal positioning rod 115 passes through the longitudinal slide 113, and the longitudinal slide 113 is rotatably embedded with rollers 121 at the corners of the side walls of the longitudinal guide rod 110. Each pair of rollers 121 on the left and right sides is clamped and rolled with the feed rod 111, so that the longitudinal motor group 114 is stably installed between the pair of longitudinal slides 113 and jointly supports the vertical movement of the storage box 310;

[0050] A servo electric cylinder 230 is coaxially mounted on one end of the transverse positioning rod 240 and the longitudinal positioning rod 115 to drive the transverse positioning rod 240 and the longitudinal positioning rod 115 to move in telescopic manner; the two servo electric cylinders 230 are fixedly connected to the top plate and the longitudinal slide 113 by bolts.

[0051] In addition, in order to extend the storage box 310 horizontally and deliver the goods into the storage cabinet, an active frame 320 is slidably engaged at the bottom of the storage box 310. The active frame 320 is slidably engaged within the top of the bracket 330. A pair of pull ropes 340 are wound around the front and rear ends of the active frame 320, and the pair of pull ropes 340 are arranged symmetrically in opposite directions. The pull ropes 340 are made of steel strands to improve their tensile strength and durability. A servo motor 350 is installed at the bottom front end of the bracket 330 to drive the active frame 320 to move horizontally. An incremental rotary encoder is installed at the end of the servo motor 350. Lateral displacement sensors 220 are embedded in the front and rear end side walls of the bracket 330 to measure the displacement of the active frame 320 and trigger the servo motor 350 to self-lock.

[0052] The horizontal displacement of the cargo box 310 is determined bidirectionally by the incremental rotary encoder and the lateral displacement sensor 220 , so that the cargo can be accurately delivered to the storage cabinet.

[0053] Furthermore, a sprocket is coaxially sleeved at the output shaft end of the servo motor 350, and a sprocket is installed at the rear end of the bracket 330. A chain 351 is meshed between the two sprockets, and clamping columns 352 are provided at the side ends of two adjacent rotating pins of the chain 351. Push rods 321 are inserted into the bottom surfaces of the front and rear ends of the active frame 320, and the two clamping columns 352 are engaged with the lower half of the push rods 321 for transmission; the servo motor 350 is started to drive the chain 351 to circulate, and the push rod 321 is clamped by a pair of clamping columns 352 to drive the active frame 320 to move synchronously, and then the pull rope 340 pulls the storage box 310 to translate relative to the bracket 330 to transport the goods.

[0054] Specifically, a pair of ring blocks 322 are embedded at the front and rear ends of the active frame 320 and at different sides, and a pulley 342 is rotatably connected between each pair of ring blocks 322. The pull rope 340 is correspondingly sleeved on the pulley 342, and the upper and lower ends of the pull rope 340 are tightly sleeved with a pull block 341. The pull block 341 located at the top is fixedly connected to the bottom surface of the storage box 310, and the pull block 341 located at the bottom is fixedly connected to the bottom surface of the active frame 320; when the servo motor 350 is forward and reverse, it can drive the active frame 320 to move forward or backward, and then the pull rope 340 corresponding to the pulley 342 at the front or rear position slides to drive the storage box 310 to move synchronously; for example, when the active frame 320 moves forward, the upper layer of the pull rope 340 is pushed shorter by the front pulley 342, and the storage box 310 is pulled forward to achieve a longer conveying distance.

[0055] Furthermore, a slide rod 311 is fixedly connected to the inner side of the bottom of the storage box 310, and a slide rod 311 is fixedly connected to the inner side of the top of the bracket 330. The outer walls of both sides of the active frame 320 are fixedly connected with sliding rods 323 in an upper and lower manner. The sliding rod 323 located above is slidably plugged into the slide rod 311 on the storage box 310, and the sliding rod 323 located below is slidably plugged into the slide rod 311 on the bracket 330, so that the storage box 310 and the active frame 320 slide smoothly relative to each other under the support of the bracket 330.

[0056] The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device of the present invention includes three stages of lateral, longitudinal and horizontal positioning and conveying during operation:

[0057] During lateral positioning and lifting, the lateral motor group 210 is activated, and the gear meshes with the rack on the top surface of the lateral guide rod 100 to drive the longitudinal guide rod 110 to move horizontally; the incremental rotary encoder monitors the number of rotations of the motor gear, and triggers the motor self-locking after preliminary positioning near the target access point;

[0058] The lateral displacement sensor 220 detects the actual displacement in real time. If the error is within the threshold, the servo cylinder 230 is triggered to push the lateral positioning rod 240 into the corresponding lateral positioning slot 101, mechanically locking the position;

[0059] The longitudinal guide rod 110, along with the bracket 330 and storage box 310, achieves precise lateral positioning. During longitudinal positioning and lifting, the drive gear of the longitudinal motor assembly 114 engages the side rack of the longitudinal guide rod 110, driving the bracket 330 and storage box 310 to move vertically. After initial positioning, the encoder self-locks. The longitudinal displacement sensor 360 detects the vertical displacement, triggering the servo cylinder 230 to push the longitudinal positioning rod 115 into the longitudinal positioning slot 112, locking the vertical position. At this point, the storage box 310 reaches the position corresponding to the storage cabinet access point.

[0060] When transporting goods horizontally, the servo motor 350 is activated, driving the clamping column 352 through the sprocket chain 351, which drives the push rod 321 of the active frame 320 to move horizontally. The active frame 320 is linked to the pulley 342 via the pull rope 340, pulling the storage box 310 to extend horizontally along the slide rod 311. The encoder and the lateral displacement sensor 220 bidirectionally verify the displacement of the storage box 310, triggering the motor to self-lock, ensuring that the goods are accurately delivered to the interior of the storage cabinet.

[0061] It should be noted that the above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit and substance of the present invention are intended to be encompassed within the scope of protection of the present invention.

Claims

1. A fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device, used for storage cabinet conveying equipment conveying positioning, characterized by: It includes a transverse guide rod for guiding the transverse displacement of the gear, a longitudinal guide rod for guiding the longitudinal displacement of the gear, a transverse feed system installed on the side of the transverse guide rod, and a longitudinal feed system installed on the side of the longitudinal guide rod; The lateral feed system includes a lateral motor group, a lateral displacement sensor pointing to the top surface of the lateral guide rod, and a lateral positioning rod plugged into the top of the lateral guide rod, the lateral displacement sensor is used to measure the lateral displacement and trigger the positioning of the lateral positioning rod, the lateral motor group is composed of a top plate, a motor, and a gear, an incremental rotary encoder is installed at the end of the motor, the motor and the gear are connected through a reduction gear box, and the gear is meshed with a rack on the rear side of the top surface of the lateral guide rod, wherein the top plate is located on the top surface of the lateral guide rod and a lateral slide is welded to the front end of the top plate to slide and engage with the lateral guide rod, the lateral slide is uprightly arranged on the front side of the lateral guide rod and is fixedly connected to the longitudinal guide rod; The longitudinal feed system includes a storage box, a bracket for supporting the sliding of the storage box, and a longitudinal motor group suspended below the bracket for driving the vertical movement of the bracket. A longitudinal positioning rod is provided on one side of the longitudinal motor group and is positioned and plugged into the longitudinal guide rod. A longitudinal displacement sensor is installed at the rear end of the bracket and near the longitudinal guide rod to measure the vertical displacement and trigger the positioning of the longitudinal positioning rod. A plurality of transverse positioning grooves are provided at equal intervals on the rear side of the top surface of the transverse guide rod, and the transverse positioning rods are correspondingly plugged into the transverse positioning grooves; The corners of the transverse slides facing the side of the transverse guide rods are all rotatably embedded with rollers, and the upper and lower layers of rollers clamp the upper and lower convex strips of the transverse guide rods and roll horizontally; A servo electric cylinder is coaxially mounted on one end of the transverse positioning rod and the longitudinal positioning rod to drive the transverse positioning rod and the longitudinal positioning rod to move telescopically; The left and right sides of the longitudinal guide rod are fixedly connected with a feed rod, and the side walls of the feed rod are provided with a number of longitudinal positioning grooves at equal intervals. The longitudinal positioning rod is plugged into the longitudinal positioning grooves accordingly. The bottom surface of the bracket is vertically welded with a longitudinal slide for guiding the extension and retraction of the longitudinal positioning rod. The longitudinal slides are rotated toward the corners of the side walls of the longitudinal guide rod and are embedded with rollers. Each pair of rollers on the left and right sides are clamped and rollingly connected with the feed rod.

2. The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device according to claim 1, characterized in that: An active frame is slidably connected to the bottom of the storage box, and the active frame is slidably connected to the top of the bracket. A pair of pull ropes are wrapped around the front and rear ends of the active frame, and the pair of pull ropes are symmetrically arranged in opposite directions. A servo motor for driving the active frame to move horizontally is installed at the bottom front end of the bracket, and an incremental rotary encoder is installed at the end of the servo motor. Transverse displacement sensors are embedded in the front and rear end side walls of the bracket to measure the displacement of the active frame and trigger the servo motor to self-lock.

3. The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device according to claim 2, characterized in that: The longitudinal motor group consists of a top plate, a motor, and a gear. An incremental rotary encoder is installed at the end of the motor. The motor and the gear are connected through a reduction box, and the gear is engaged with the rack at the front side of the longitudinal guide rod to drive the storage box to move up and down.

4. The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device according to claim 3, characterized in that: The output shaft end of the servo motor is coaxially sleeved with a sprocket, and the rear end of the bracket is equipped with a sprocket, a chain is engaged between the two sprockets, and the two adjacent rotating pin side ends of the chain are provided with clamping columns, and the front and rear end bottom surfaces of the active frame are both plugged with push rods, and the two clamping columns are engaged with the lower half of the push rod for transmission.

5. The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device according to claim 4, characterized in that: A pair of ring blocks are embedded in the front and rear ends of the active frame and on different sides, and a pulley is rotatably connected between each pair of ring blocks. The pull rope is correspondingly sleeved on the pulley, and the upper and lower ends of the pull rope are tightly sleeved with pull blocks. The pull block located above is fixedly connected to the bottom surface of the storage box, and the pull block located below is fixedly connected to the bottom surface of the active frame.

6. The fully automatic storage cabinet gear and incremental rotary encoder closed-loop control positioning device according to claim 5, characterized in that: The inner side of the bottom of the storage box is fixedly connected to a sliding rod, the inner side of the top of the bracket is fixedly connected to a sliding rod, and the outer walls of both sides of the active frame are fixedly connected with sliding rods in an upper and lower manner. The sliding rod located above is slidably plugged into the sliding rod on the storage box, and the sliding rod located below is slidably plugged into the sliding rod on the bracket.

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