CN102530461B - Combined stereoscopic warehouse and control method thereof - Google Patents

Abstract

A combined three-dimensional warehouse, including a longitudinal support, a transmission ball, a main connecting motor, a side connecting motor, and a bottom bracket. There are cargo elevators on both sides of the combined three-dimensional warehouse, and each layer of the cargo elevator is provided with a transverse rotation roller. The bottom bracket has at least 2 layers, and the bottom bracket is installed on the longitudinal bracket at equal distances layer by layer. The bottom bracket of each layer is composed of n*m bracket units, and there are n*m transmission balls on each bottom bracket. The distance between the first transmission ball and the surrounding four transmission balls is equal, the main connection motor is arranged on the upper side of the bottom bracket, and there is a main connection motor between every two transmission balls, and the side connection motor is arranged on the bottom bracket Corresponding to the outer drive ball on the same layer. The present invention utilizes the connecting motor to control the transmission ball, so that the present invention can connect the transmission ball into horizontal rollers and longitudinal rollers through the expansion and contraction of the connecting motor as required, so as to realize the horizontal and vertical transmission of goods.

Description

A combined three-dimensional warehouse and its control method

technical field

The invention relates to the field of cargo management equipment, in particular to a combined three-dimensional warehouse and a control method thereof.

Background technique

Most of the current automated three-dimensional warehouses use roadway stackers as the key equipment for the entry and exit of goods and the transportation system. The use of roadway stackers has strict requirements on the height of the warehouse. The capacity is affected, and the entire equipment needs to have relatively complete safety protection measures to deal with errors in the operation process. In addition, this type of automated three-dimensional warehouse control system usually requires integration with the structure of the warehouse itself for overall design and construction. The cost is high, and it is not conducive to the automation transformation of existing warehouses, which makes the application of this type of automated three-dimensional warehouses subject to some restrictions. At present, there are many traditional warehouses in China. With the rapid development of manufacturing and logistics industries, many warehouses have to be related The automated transformation of the warehouse can improve the operating efficiency of the warehouse and increase the warehouse capacity. Therefore, in the actual demand, there is a need for an automated three-dimensional warehouse that does not use stackers and has better adaptability. Therefore, some people use the rotating shelf shown in Figure 1 of the patent number CN200920239660.X to solve this problem, but its flexibility is still limited. , so the scope of application is extremely poor.

Contents of the invention

In view of the above problems, the present invention uses the connecting motor to control the transmission ball, so that the present invention can connect the transmission ball into a horizontal roller and a longitudinal roller through the connection motor telescopically as required, so as to realize the horizontal and vertical transmission of goods. To achieve this purpose, the present invention provides A combined three-dimensional warehouse, including a longitudinal support, a transmission ball, a main connecting motor, a side connecting motor, and a bottom bracket. There are cargo elevators on both sides of the combined three-dimensional warehouse, and each layer of the cargo elevator is provided with a transverse rotation roller. The bottom bracket has at least 2 layers, and the bottom bracket is installed equidistantly on the longitudinal bracket layer by layer. The bottom bracket of each layer is composed of n*m bracket units, and there are n*m transmission balls on the bottom bracket of each layer. The transmission ball has 4 sections of the same size, front, rear, left, and right, which are perpendicular to the horizontal plane. There is a fixed groove in the section of the transmission ball, and the size of the fixed groove corresponds to the shape of the movable clip connected to the motor. The distance between the 4 transmission balls is equal,

The main connecting motor includes a main motor body, a main mounting base, a main bracket, a main electromagnet, a main connecting spring, a main transmission shaft and a main movable clip. The main mounting base is arranged at the bottom of the main motor body, and the main bracket It is arranged on both sides of the main motor body. There is a main electromagnet in each of the main brackets. There are sliding guide rails in the main electromagnet. The main movable clamp is arranged on the outer end of the main transmission shaft. The main connecting spring sleeve On the main transmission shaft, the inner end of the main transmission shaft is inserted into the main electromagnet sliding guide rail, the main connection motor is installed on the upper side of the bottom bracket through the main mounting seat, and there is a main connection between every two transmission balls motor,

The side connection motor includes a side motor body, a side mount, a side bracket, a side electromagnet, a side connection spring, a side transmission shaft and a side movable clip, the side mount is arranged at the bottom of the side motor body, and the side bracket It is arranged on one side of the side motor main body, there is a side electromagnet in the side bracket, there is a sliding guide rail in the side electromagnet, the side movable clamp is set at the outer end of the side transmission shaft, and the side connection spring is sleeved on the side On the transmission shaft, the inner end of the side transmission shaft is inserted into the side electromagnet sliding guide rail, and the side connection motor is installed on the bottom bracket through the side mounting seat to correspond to the outer transmission ball of the same layer.

As a further improvement of the present invention, the connecting edge between the vertical section of each transmission ball and the curved surface has a rounded edge. Set edge rounding on the connecting edge between the section and the surface.

As a further improvement of the present invention, the upper end of the longitudinal support has a plug joint, and the lower end of the longitudinal support has a socket corresponding to the plug joint. By arranging the plug joint and the socket on the longitudinal support, corresponding layers of supports can be provided as required.

As a further improvement of the present invention, the bottom bracket is combined or integral, and the bottom bracket of this patent can be combined or integral. The integral type is cheaper, and the combined type has wider versatility.

As a further improvement of the present invention, the bottom bracket is integral, and there are n*m placement slots on the bottom bracket, and each placement slot corresponds to a transmission ball. When the bottom bracket is integral, n*m can be set on the bottom bracket. m Place the drive ball in the groove to prevent the drive ball from rolling out.

As a further improvement of the present invention, the bottom bracket is a combined type, consisting of n*m square bracket unit boards, and each bracket unit board has connectors and corresponding insertion slots on the front, rear, left, and right sides of each bracket unit board. There is a placement groove corresponding to the transmission ball on each support unit plate, and when the bottom bracket is a combined type, a placement groove corresponding to the transmission ball can be arranged on each support unit plate to prevent the transmission ball from rolling out.

A kind of combined three-dimensional warehouse control method of the present invention is as follows:

The purchase process of the control method is as follows:

1) Put the cargo into the bottom of the cargo lift, and the sensor will identify the size of the cargo;

2) Determine the minimum number of transmission balls required to connect the rollers according to the size of the goods;

3) Determine the final placement layer and position of the goods according to the location and remaining space of the goods in the warehouse;

4) Calculate the shortest distance and the required running path to avoid all stored goods to the required location through the control computer;

5) If step 4 is otherwise, identify the position and size of the goods to be removed, and calculate the required moving distance, and control the electromagnet connected to the motor corresponding to the transmission ball that is required to be connected into the roller so that the movable clamp sticks out and is stuck in the corresponding position. In the fixed groove of the transmission ball, the transmission balls required to form a roller are connected to form a roller;

6) The connecting motor corresponding to the transmission ball of the continuous roller drives the rotation of the transmission ball of the continuous roller to remove the goods to be removed;

7) If step 4 is yes, directly lift the goods to the floor where the final location is located through the cargo elevator, if step 4 is no, go to step 5 and step 6 first, and then lift the goods to the floor where the final location is via the cargo elevator;

8) Control the rotation of the lateral rotation roller on the cargo elevator to send the goods into the combined three-dimensional warehouse;

9) Control the electromagnet connected to the motor corresponding to the drive balls that are required to be connected into rollers so that the movable clamp is stuck in the fixed groove of the corresponding drive balls, and the drive balls that are required to be connected into rollers are connected into rollers;

10) Control the rotation of the connecting motor corresponding to the transmission ball of the continuous roller to drive the rotation of the transmission ball of the continuous roller to send the goods to the final placement position;

The delivery process of the control method is as follows:

1) Identify the location and size of the required shipment through sensors;

2) Determine the minimum number of transmission balls required to connect the rollers according to the size of the goods;

3) Calculate the shortest distance from all stored goods to the required location and the required running path according to the location of each goods in the warehouse and the remaining space;

4) If step 3 is otherwise, identify the position and size of the goods to be removed, and calculate the required moving distance, and control the electromagnet connected to the motor corresponding to the transmission ball that is required to be connected into the roller so that the movable clamp sticks out and is stuck in the corresponding position. In the fixed groove of the transmission ball, the transmission balls required to form a roller are connected to form a roller;

5) The connecting motor corresponding to the transmission ball of the continuous roller drives the rotation of the transmission ball of the continuous roller to remove the goods to be removed;

6) If step 3 is yes, control the electromagnet connected to the motor corresponding to the transmission ball of the required continuous roller so that the movable clamp sticks out and gets stuck in the fixed groove of the corresponding transmission ball, and the transmission of the required continuous roller The balls are connected into rollers, and the connecting motor corresponding to the driving balls of the connecting rollers is controlled to drive the driving balls of the connecting rollers to rotate, and the goods are sent to the exit layer to control the location of the cargo elevator. If step 3 is otherwise, go to step 4 and step 5 first Then control the electromagnet connected to the motor corresponding to the transmission balls that are required to be connected into rollers so that the movable clamps stretch out and be stuck in the fixed grooves of the corresponding transmission balls. The connecting motor corresponding to the drive ball of the forming roll drives the drive ball of the forming roll to rotate and sends the goods to the exit layer to control the position of the cargo elevator;

7) Move the goods to the bottom floor for shipment through the goods elevator.

In the present invention, the connecting motor is used to control the transmission ball, and the system first calculates the shortest distance of the goods and whether each step needs to move horizontally or vertically, and then through the electromagnet in the connecting motor to control the extension of the movable clamp, the transmission ball is connected into a horizontal roller and a vertical roller. The motor controls the horizontal rotation of the horizontal roller and the vertical rotation of the longitudinal roller, so as to realize the horizontal and vertical movement of the goods, so that the goods can be driven horizontally and vertically, so that it is easy to schedule the entire system. Because this patent can be selected according to the size of the goods by Several transmission balls are connected into transmission rollers for transmission, so that various goods can be mixed and stored, and the storage varieties are rich, which can greatly improve the utilization efficiency of the automated warehouse.

Description of drawings

Fig. 1 is the schematic diagram of existing rotating shelf;

Fig. 2 is a schematic diagram of the assembly structure of the present invention;

Fig. 3 is the structural representation of transmission unit of the present invention;

Fig. 4 is a schematic diagram of a partial structure of the transmission structure of the present invention;

Fig. 5 is a schematic diagram of the main connection motor of the present invention;

Fig. 6 is a schematic diagram of a side-connected motor of the present invention;

The components in the figure are:

1. Cargo lift; 1-1. Horizontal rotating roller; 2. Longitudinal support;

2-1. Plug connector; 3. Transmission ball; 3-1. Fixing slot;

3-2. Edge rounding; 4. Main connection motor; 4-1. Main motor body;

4-2. Main mounting seat; 4-3. Main bracket; 4-4. Main electromagnet;

4-5. Main connecting spring; 4-6. Main drive shaft; 4-7. Main movable clamp;

5. Side connection motor; 5-1. Main body of side motor; 5-2. Side mount;

5-3. Side bracket; 5-4. Side electromagnet; 5-5. Side connection spring;

5-6. Side drive shaft; 5-7. Side movable clips; 6. Bottom bracket;

6-1. Bracket unit board; 6-1-1. Connector; 6-1-2. Insertion slot;

6-1-3, placement slot;

Detailed ways

Below in conjunction with accompanying drawing and embodiment the invention is described in detail:

The present invention utilizes the connecting motor to control the transmission ball, so that the present invention can connect the transmission ball into horizontal rollers and longitudinal rollers through the expansion and contraction of the connecting motor as required, so as to realize the horizontal and vertical transmission of goods.

As a specific embodiment of the present invention, the schematic diagram of the general assembly structure of the present invention provides a combined three-dimensional warehouse as shown in Figure 2, including a longitudinal support 2, a transmission ball 3, a main connection motor 4, a side connection motor 5 and a bottom support 6. There are cargo elevators on both sides of the combined three-dimensional warehouse, and each layer of the cargo elevator is provided with a horizontally rotating roller 1-1. The bottom bracket 6 has at least two layers, and the bottom bracket 6 is integral. The bottom bracket of this patent 6 can be a combined type or an integral type. The integral type is cheaper, and the combined type is more versatile. When the bottom bracket 6 is an integral type, there are n*m placement slots 6-1- on the bottom bracket 3. Each placement slot 6-1-3 corresponds to a transmission ball 3, so as to prevent the transmission ball from rolling out. The bottom bracket 6 layers are equidistantly installed on the longitudinal support 2, and the upper end of the longitudinal support 2 has a plug joint 2-1 , the lower end of the longitudinal support 2 has a socket corresponding to the plug joint 2-1, by setting the plug joint 2-1 and the socket on the longitudinal support 2, the support of the corresponding number of layers can be set as required, and the bottom support 6 of each layer It is composed of n*m bracket units, and there are n*m transmission balls 3 on the bottom bracket 6 of each layer. The transmission ball 3 has four sections of the same size, front, rear, left, and right, which are perpendicular to the horizontal plane. There is a fixed groove 3-1, the size of the fixed groove 3-1 corresponds to the shape of the movable clip connected to the motor, and the connection edge between the vertical section of each transmission ball 3 and the curved surface is rounded 3-2, in order to To avoid the goods being too turbulent at the connecting edge between the vertical section and the curved surface during the transmission process, edge rounding 3-2 can be set on the connecting edge between the vertical section of the transmission ball 3 and the curved surface, and each transmission ball 3 is connected to the surrounding 4 front, rear, left, and right sides. The distance between the transmission balls 3 is equal,

Described main connecting motor 4 comprises main motor main body 4-1, main mount 4-2, main support 4-3, main electromagnet 4-4, main connecting spring 4-5, main transmission shaft 4 as shown in Figure 5 -6 and the main movable clip 4-7, the main mounting seat 4-2 is arranged on the bottom of the main motor body 4-1, the main bracket 4-3 is arranged on both sides of the main motor body 4-1, each of the There is a main electromagnet 4-4 in the main bracket 4-3, a sliding guide rail is arranged in the main electromagnet 4-4, and the main movable clamp 4-7 is arranged on the outer end of the main drive shaft 4-6, and The main connection spring 4-5 is sleeved on the main transmission shaft 4-6, the inner end of the main transmission shaft 4-6 is inserted into the sliding guide rail of the main electromagnet 4-4, and the main connection motor 4 passes through the main mounting seat 4-2 is installed on the upper side of the bottom bracket 6, and there is a main connection motor 4 between every two transmission balls 3,

The side connection motor 5 includes a side motor main body 5-1, a side mounting seat 5-2, a side bracket 5-3, a side electromagnet 5-4, a side connection spring 5-5, and a side drive shaft 5 as shown in FIG. -6 and the side movable clip 5-7, the side mount 5-2 is set on the bottom of the side motor body 5-1, the side bracket 5-3 is set on the side of the side motor body 5-1, the side There is a side electromagnet 5-4 inside the bracket 5-3, and there is a sliding guide rail inside the side electromagnet 5-4, and the side movable clip 5-7 is arranged on the outer end of the side transmission shaft 5-6, and the side connection The spring 5-5 is sleeved on the side transmission shaft 5-6, the inner end of the side transmission shaft 5-6 is inserted into the sliding guide rail of the side electromagnet 5-4, and the side connection motor 5 passes through the side mounting seat 5-2 It is installed on the bottom bracket 6 and corresponds to the outer transmission ball 3 of the same layer.

As a kind of best specific embodiment of the present invention, the schematic diagram of the general assembly structure of the present invention provides a combined three-dimensional warehouse as shown in Figure 2, including longitudinal support 2, transmission ball 3, main connection motor 4, side connection motor 5 and bottom support 6 , there are cargo elevators on both sides of the combined three-dimensional warehouse, and each layer of the cargo elevator is provided with a laterally rotating roller 1-1, and the bottom bracket 6 has at least two layers, and the bottom bracket 6 is a combined type. This patent The bottom bracket 6 can be a combined type or an integral type. The integral type is cheaper, and the combined type has wider versatility. When the bottom bracket 6 is a combined type, the structural diagram of n*m units is shown in Figure 3 The partial schematic diagram shown in Figure 4 is composed of square bracket unit boards 6-1, and each bracket unit board 6-1 has connectors 6-1-1 and connectors 6-1-1 corresponding to the front, rear, left, and right sides. Insertion slot 6-1-2, each bracket unit plate 6-1 has a placement slot 6-1-3 corresponding to the transmission ball 3, to prevent the transmission ball 3 from rolling out, and the bottom bracket has 6 layers of equal distance Installed on the longitudinal support 2, the upper end of the longitudinal support 2 has a plug joint 2-1, and the lower end of the longitudinal support 2 has a socket corresponding to the plug joint 2-1, by setting the plug joint 2-1 on the longitudinal support 2 And socket can be provided with the support of corresponding number of layers according to need, described bottom support 6 of each layer is made up of n*m support units, and there are n*m transmission balls 3 on each bottom support 6, and described transmission ball 3 has front and back 4 left and right sections with the same size and perpendicular to the horizontal plane. There is a fixed groove 3-1 in the section of the transmission ball 3. The size of the fixed groove 3-1 corresponds to the shape of the movable clip connected to the motor. Each of the transmission balls 3. There is an edge rounding 3-2 on the connecting edge between the vertical section and the curved surface. In order to avoid the goods being too bumpy at the connecting edge between the vertical section and the curved surface during the transmission process, it can be used on the connecting edge between the vertical section and the curved surface of the transmission ball 3. Set the edge rounding 3-2, and the distance between each transmission ball 3 and the surrounding four transmission balls 3 is equal,

Described main connecting motor 4 comprises main motor main body 4-1, main mount 4-2, main support 4-3, main electromagnet 4-4, main connecting spring 4-5, main transmission shaft 4 as shown in Figure 5 -6 and the main movable clip 4-7, the main mounting seat 4-2 is arranged on the bottom of the main motor body 4-1, the main bracket 4-3 is arranged on both sides of the main motor body 4-1, each of the There is a main electromagnet 4-4 in the main bracket 4-3, a sliding guide rail is arranged in the main electromagnet 4-4, and the main movable clamp 4-7 is arranged on the outer end of the main drive shaft 4-6, and The main connection spring 4-5 is sleeved on the main transmission shaft 4-6, the inner end of the main transmission shaft 4-6 is inserted into the sliding guide rail of the main electromagnet 4-4, and the main connection motor 4 passes through the main mounting seat 4-2 is installed on the upper side of the bottom bracket 6, and there is a main connection motor 4 between every two transmission balls 3,

The side connection motor 5 includes a side motor main body 5-1, a side mounting seat 5-2, a side bracket 5-3, a side electromagnet 5-4, a side connection spring 5-5, and a side drive shaft 5 as shown in FIG. -6 and the side movable clip 5-7, the side mount 5-2 is set on the bottom of the side motor body 5-1, the side bracket 5-3 is set on the side of the side motor body 5-1, the side There is a side electromagnet 5-4 inside the bracket 5-3, and there is a sliding guide rail inside the side electromagnet 5-4, and the side movable clip 5-7 is arranged on the outer end of the side transmission shaft 5-6, and the side connection The spring 5-5 is sleeved on the side transmission shaft 5-6, the inner end of the side transmission shaft 5-6 is inserted into the sliding guide rail of the side electromagnet 5-4, and the side connection motor 5 passes through the side mounting seat 5-2 It is installed on the bottom bracket 6 and corresponds to the outer transmission ball 3 of the same layer.

Combined three-dimensional warehouse control method of the present invention:

The purchase process of the control method is as follows:

1) Put the goods into the bottom of the goods elevator 1, and the size of the goods is identified by the sensor;

2) Determine the minimum number of transmission balls required to connect the rollers according to the size of the goods;

3) Determine the final placement layer and position of the goods according to the location and remaining space of the goods in the warehouse;

4) Calculate the shortest distance and the required running path to avoid all the stored goods to the required location through the control computer;

5) If step 4 is otherwise, identify the position and size of the goods to be removed, and calculate the required moving distance, and control the electromagnet connected to the motor corresponding to the transmission ball 3 that is required to be connected into a roller to make the movable clamp stick out. In the fixed groove 3-1 corresponding to the transmission ball 3, the transmission balls 3 that are required to be connected to form a roll are connected to form a roll;

6) The connecting motor corresponding to the transmission ball 3 of the connected roller drives the rotation of the transmission ball 3 of the connected roller to remove the goods to be removed;

7) If step 4 is yes, directly lift the goods to the floor where the final location is via cargo elevator 1, if step 4 is no, go to step 5 and step 6 first, and then lift the goods to the floor where the final location is via cargo elevator 1;

8) Control the rotation of the horizontal rotation roller on the goods elevator 1 to send the goods into the combined three-dimensional warehouse;

9) Control the electromagnet connected to the motor corresponding to the transmission ball 3 that is required to be connected into a roller so that the movable clamp is stuck in the fixed groove 3-1 corresponding to the transmission ball 3, and the transmission ball that is required to be connected into a roller 3 continuous rollers;

10) Control the rotation of the connecting motor corresponding to the transmission ball 3 of the connected roller to drive the rotation of the transmission ball 3 of the connected roller to send the goods to the final placement position;

The delivery process of the control method is as follows:

1) Identify the location and size of the required shipment through sensors;

2) Determine the minimum number of transmission balls required to connect the rollers according to the size of the goods;

3) Calculate the shortest distance from all stored goods to the required location and the required running path according to the location of each goods in the warehouse and the remaining space;

4) If step 3 is no, identify the position and size of the goods to be removed, and calculate the required moving distance, and control the electromagnet connected to the motor corresponding to the transmission ball 3 that needs to be connected to form a roller so that the movable clamp sticks out. In the fixed groove 3-1 corresponding to the transmission ball 3, the transmission balls 3 that are required to be connected to form a roll are connected to form a roll;

5) The connecting motor corresponding to the transmission ball 3 of the connected roller drives the rotation of the transmission ball 3 of the connected roller to remove the goods to be removed;

6) If step 3 is yes, then control the electromagnet connected to the motor corresponding to the transmission ball 3 that is connected to the roller so that the movable clip sticks out and gets stuck in the fixed groove 3-1 corresponding to the transmission ball 3, and the required The transmission ball 3 connected to the roller is connected to the roller, and the corresponding connecting motor to control the transmission ball 3 of the continuous roller is driven to drive the transmission ball 3 of the continuous roller to rotate to send the goods to the exit layer to control the position of the cargo elevator 1, if step 3 Otherwise first carry out step 4 and step 5 and then control the electromagnet corresponding to the drive ball 3 connected to the roller to make the movable clamp stick out and be stuck in the fixed groove 3-1 of the corresponding drive ball 3. The transmission ball 3 that is required to be connected to form a roller is connected to form a roller, and the connecting motor corresponding to the transmission ball 3 that is connected to the roller is controlled to rotate to drive the transmission ball 3 to rotate to send the goods to the exit layer to control the location of the cargo elevator 1;

7) Move the goods to the bottom floor through the goods elevator 1 for shipment.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any other form, and any modification or equivalent change made according to the technical essence of the present invention still belongs to the scope of protection required by the present invention .

Claims (8)

1. A combined three-dimensional warehouse, including a longitudinal support (2), a transmission ball (3), a main connection motor (4), a side connection motor (5) and a bottom bracket (6), the two sides of the combined three-dimensional warehouse There is a cargo elevator, and each layer of the cargo elevator is provided with a horizontally rotating roller (1-1), which is characterized in that: the bottom bracket (6) has at least 2 layers, and the bottom bracket (6) is installed equidistantly in the longitudinal direction On the bracket (2), the bottom bracket (6) of each layer is composed of n*m bracket units, and there are n*m transmission balls (3) on each bottom bracket (6), and the transmission ball (3) There are 4 sections of the same size, front, back, left, and right, which are perpendicular to the horizontal plane. There is a fixed slot (3-1) in the section of the transmission ball (3), and the size of the fixed slot (3-1) is similar to the shape of the movable clip connected to the motor. Correspondingly, the distance between each transmission ball (3) and the surrounding four transmission balls (3) is equal, The main connecting motor (4) includes a main motor body (4-1), a main mounting seat (4-2), a main bracket (4-3), a main electromagnet (4-4), a main connecting spring (4- 5), the main transmission shaft (4-6) and the main movable clip (4-7), the main mounting seat (4-2) is set at the bottom of the main motor body (4-1), and the main bracket (4 -3) Set on both sides of the main motor body (4-1), each main bracket (4-3) has a main electromagnet (4-4), and the main electromagnet (4-4) has a The sliding guide rail, the main movable clip (4-7) is set on the outer end of the main transmission shaft (4-6), and the main connecting spring (4-5) is sleeved on the main transmission shaft (4-6). The inner end of the main transmission shaft (4-6) is inserted into the sliding guide rail of the main electromagnet (4-4), and the main connecting motor (4) is installed on the bottom bracket (6) through the main mounting seat (4-2) On the upper side, there is a main connection motor (4) between every two transmission balls (3), The side connection motor (5) includes a side motor body (5-1), a side mounting base (5-2), a side bracket (5-3), a side electromagnet (5-4), a side connection spring (5- 5), the side transmission shaft (5-6) and the side movable clip (5-7), the side mount (5-2) is set at the bottom of the side motor body (5-1), the side bracket (5 -3) Set on the side of the side motor body (5-1), the side electromagnet (5-4) is inside the side bracket (5-3), and there is a sliding guide rail inside the side electromagnet (5-4) , the side movable clip (5-7) is set on the outer end of the side transmission shaft (5-6), the side connection spring (5-5) is sleeved on the side transmission shaft (5-6), and the side The inner end of the transmission shaft (5-6) is inserted into the sliding guide rail of the side electromagnet (5-4), and the side connection motor (5) is installed on the bottom bracket (6) through the side mounting seat (5-2) and Corresponding to the outer transmission ball (3) of the same layer. 2. A combined three-dimensional warehouse according to claim 1, characterized in that: each transmission ball (3) has a rounded edge (3-2) on the connecting edge between the vertical section and the curved surface. 3. A combined three-dimensional warehouse according to claim 1 or 2, characterized in that: the upper end of the longitudinal support (2) has a plug joint (2-1), and the lower end of the longitudinal support (2) has a plug connector (2-1). Connector (2-1) corresponds to the socket. 4. A combined three-dimensional warehouse according to claim 3, characterized in that: the bottom bracket (6) is combined or integral. 5. A combined three-dimensional warehouse according to claim 4, characterized in that: the bottom bracket (6) is integral, and there are n*m placement slots (6-1-3) on the bottom bracket (6) , each placement slot (6-1-3) corresponds to a transmission ball (3). 6. A combined three-dimensional warehouse according to claim 4, characterized in that: the bottom bracket (6) is a combined type, consisting of n*m square bracket unit plates (6-1), each bracket There are plug connectors (6-1-1) on the front, rear, left, and right sides of the unit board (6-1) and the corresponding plug slots (6-1-2) of the plug connectors (6-1-1). 7. A combined three-dimensional warehouse according to claim 6, characterized in that: the bottom bracket (6) is a combined type, consisting of n*m square bracket unit plates (6-1), each bracket unit There is a placement groove (6-1-3) corresponding to the transmission ball (3) on the plate (6-1). 8. A control method for the combined three-dimensional warehouse according to claim 1, characterized in that: The purchase process of the control method is as follows: 1) Put the cargo into the bottom layer of the cargo elevator (1), and let the sensor identify the size of the cargo; 2) Determine the minimum number of transmission balls required to connect the rollers according to the size of the goods; 3) Determine the final placement layer and position of the goods according to the location and remaining space of the goods in the warehouse; 4) Calculate the shortest distance and the required running path to avoid all the stored goods to the required location through the control computer; 5) If step 4 is otherwise, identify the position and size of the goods to be removed, and calculate the required moving distance, and control the electromagnet connected to the motor corresponding to the transmission ball (3) that is required to be connected into a roller to make the movable clamp stick out Stuck in the fixed groove (3-1) corresponding to the transmission ball (3), the transmission balls (3) that need to be connected to form a roller are connected to form a roller; 6) The connecting motor corresponding to the transmission ball (3) of the connected roller drives the rotation of the transmission ball (3) of the connected roller to remove the goods to be removed; 7) If step 4 is yes, directly lift the goods to the floor where the final location is located through the cargo elevator (1), if step 4 is no, go to step 5 and step 6 first, and then lift the goods to the final location through the cargo elevator (1) Current unit; 8) Control the rotation of the upper horizontal rotation roller of the goods elevator (1) to send the goods into the combined three-dimensional warehouse; 9) Control the electromagnet connected to the motor corresponding to the transmission ball (3) that is required to be connected into the roller so that the movable clamp is stuck in the fixed groove (3-1) of the corresponding transmission ball (3), and the required The drive balls (3) connected into rollers are connected into rollers; 10) Control the rotation of the connecting motor corresponding to the transmission ball (3) of the continuous roller to drive the rotation of the transmission ball (3) of the continuous roller to send the goods to the final placement position; The delivery process of the control method is as follows: 1) Identify the location and size of the required shipment through sensors; 2) Determine the minimum number of transmission balls required to connect the rollers according to the size of the goods; 3) Calculate the shortest distance from all stored goods to the required location and the required running path according to the location of each goods in the warehouse and the remaining space; 4) If step 3 is otherwise, identify the position and size of the goods to be removed, and calculate the required moving distance, and control the electromagnet connected to the motor corresponding to the transmission ball (3) that is required to be connected into a roller to make the movable clamp stick out Stuck in the fixed groove (3-1) corresponding to the transmission ball (3), the transmission balls (3) that need to be connected to form a roller are connected to form a roller; 5) The connecting motor corresponding to the transmission ball (3) of the connected roller drives the rotation of the transmission ball (3) of the connected roller to remove the goods to be removed; 6) If step 3 is yes, then control the electromagnet connected to the motor corresponding to the drive ball (3) that is connected to the roller so that the movable clamp sticks out and gets stuck in the fixed slot (3-1) of the corresponding drive ball (3) Inside, the transmission balls (3) that are required to be connected into rollers are connected to form rollers, and the corresponding connection motors that control the transmission balls (3) that are connected to form rollers rotate to drive the transmission balls (3) that are connected to form rollers to rotate and send the goods to The exit layer controls the location of the cargo elevator (1), if step 3 is true, otherwise, first proceed to step 4 and step 5, and then control the electromagnet connected to the motor corresponding to the drive ball (3) that is connected to the roller to make the movable clamp stick out Stuck in the fixed groove (3-1) corresponding to the transmission ball (3), the transmission ball (3) that is required to be connected into a roller is connected to a roller, and the corresponding connection motor of the transmission ball (3) that is connected to a roller is controlled The rotation drives the transmission ball (3) connected to the roller to rotate and send the goods to the exit layer to control the position of the goods elevator (1); 7) Move the goods to the bottom floor by the goods elevator (1) for shipment.

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