LEGO logistic center - Warehouse crane and robotic arm connected by conveyors скачать в хорошем качестве

LEGO logistic center - Warehouse crane and robotic arm connected by conveyors

A demonstration of my logistic warehouse working. Video starts with a 8x speed "Automatic storage mode". Then the working of all the components is explained. Components; Dual sided high bay racks. 6 levels high, 5 racks long. High bay crane with dual side operated telescopic fork. Input/output chain conveyors. 2 corner transfer to transfer from chain to roller conveyors. 3 roller conveyors to connect in- and output. Scissorlift for lifting pallets up to be taken away/put down. 6 Degrees of Freedom (6DOF) robotic arm. Linear movements with inverse kinematics control, and full XYZ/Roll/Pitch/Yaw control. Human-Machine Interface (HMI) to control the complete warehouse, selecting modes, times, add new pallets and write their names down. Warehouse Management System (WMS), it saves the current location of every pallet whenever it is moved to a new location, online and in an offline file, so it can be loaded at restarts. Manual operated pneumatic forklift (made from set 42128 Heavy Duty Tow Truck) to destroy the warehouse, as that's what forklifts do. 5x Lego EV3 Mindstorms bricks to control the 17 motors and 12 sensors. The roller conveyor brick runs as 'main' Master. Left side of 6DoF 'sub' Master. Other 3 bricks act as slaves and do what the masters tell them. Right side 6DoF is connected with both masters. Programmed with MicroPython (Pybricks). All 5 bricks are permanently connected to chargers to be able to run at events for long periods. 0:00 8x speed storaging pallets, coming out of the warehouse, on the ground 0:18 8x speed bringing back pallets from the ground to the warehouse 0:45 Starting the 5 EV3 mindstorms controllers 1:04 All motors are finding their homing position 1:09 Selecting operation mode with or without robotic arm 1:17 All motors continue finding their starting positions 1:49 Controlling the HMI to select working modes 2:25 The random chosen pallet "11L liftarm yellow" is shown onscreen 2:29 Telescopic fork extension 2:36 Output chain conveyor transports the pallet 2:42 Output corner transfer lifts the pallet up 2:47 3 roller conveyors transfer the pallet 2:56 Input corner transfer lowers the pallet 3:01 Input chain conveyor runs towards the scissorlift 3:05 Scissortable lifts the pallet up in the air 3:12 Robotic arm receives command to transport a pallet 3:17 Slow linear movement for pickup/dropoff 3:23 Medium speed linear movement for pallet transport 3:43 High speed linear movement for unloaded moving 4:58 Yaw control with pallet 5:35 Yaw control unloaded at same XYZ position 6:58 All floor storage full, returning pallets to high bay 8:38 High bay crane driving on flat rail 8:46 High bay crane lifting with lego string (cable) 8:56 Telescopic fork extension works both ways, centering with sensor 9:48 High bay crane top rail (guiding) 10:09 Energy chain that allows continuous charging high bay crane 11:17 HMI - location information 11:37 Some more demonstration 12:11 Manual control to return a pallet to the warehouse 12:20 Full automatic operation of the logistic center at real speed