We present to your attention a conceptual model for the development of the Beeptec Engineering universal buffer warehouse: A characteristic feature of such a warehouse is its scalability along the XYZ axes in accordance with the dimensions of containers or pallets, using linear manipulators (stackers). The occupied area of such warehouses can range from 200 to 2000 m / sq. Features of operation: Handling goods using linear manipulators (stackers) functionally resembles a printer for printing, with the only difference that the manipulator moves instead of the print head. The number of arms depends on the configuration and arrangement of the storage stacks, considering that 1 arm can handle 2 sides of the stacks. This control algorithm has a bottleneck - a breakdown of the manipulator means stopping the processing of the entire warehouse aisle. A way out of the situation: installing a backup manipulator (for each passage or one for the entire warehouse). Containers or pallets are delivered or received by conveyor lines that are divided into zones. A solution is provided without the participation of a person unloading containers or pallets directly from the truck, placing it in the warehouse, as well as loading into the truck. Alternatives: An alternative to the use of linear manipulators are robotic carts that handle pallet loading and unloading. Moreover, the number of carts in the warehouse is not limited, their breakdown will lead to blocking of just a few pallets. Such bogies move along guide rails like railway cars. Moreover, each such trolley has access to the entire warehouse and works in a group with other trolleys. Warehouses of this type are more expensive than warehouse with cranes. Therefore, their use is advisable in large warehouses ranging from 10 thousand to 40 thousand capsules (pallets) -places. The processing speed is higher, since several carts can work in one pass. Constructive: When it comes to prefabricated light alloy structural framing for WMS design, the manufacturer and developer market offers a wide range of versatile solutions in many areas. Structures of this type are widely used in industrial robotic stands, taking into account loads and fixtures. WMS Software and equipment: Thus, we are ready to go to the next round, where, together with the requested functions, there are also entries and collect data storage data in real time, the WMS emergency transition to manual control, as well as switching to autonomous mode from uninterrupted power output. The entire management process will be assigned to 2 computers, where one computer will be responsible for the arrival of the warehouse, and the other for exit from the warehouse. The procedures for determining the address of the delivery, storage, tasks and address are inserted into the barcode. In this case, the code is attached to pallets or on containers. Thus, containers or pallets are a direct part of the flexible and adaptable logic of the entire complex.

An example of controlling five stepper motors with encoders connected. Thus, it is a turnkey solution for building ARM. SBC LattePanda is used as a control kit. The coordinates of the movement are recorded in the trigger fields in the process of training the system by analogy, as it happens in manipulators from Baxter.

Cooking process: Set for prototyping