CN111515738A - Three-dimensional tool warehouse, tool warehousing method and tool ex-warehouse method - Google Patents

Abstract

The invention provides a three-dimensional tool warehouse, a tool warehousing method and a tool ex-warehouse method, wherein the three-dimensional tool warehouse comprises a tool warehouse main body, a manipulator and a tool goods position frame, wherein: the top of the tool magazine main body is provided with a plurality of slide rails; the sliding rail is provided with a manipulator for taking and placing a cutter; both sides of the manipulator are provided with a cutter goods position frame; the plurality of cutter goods position frames are movably connected with the cutter storehouse main body; a plurality of knife handle positioning sleeve mounting plates are arranged on the knife storage rack; the knife handle positioning sleeve mounting plate is provided with knife handle positioning sleeves of various sizes. The invention provides a three-dimensional tool magazine which is characterized in that a tool magazine body, a mechanical arm, a tool goods position frame, a slide rail, a tool handle positioning sleeve mounting plate and a tool handle positioning sleeve are arranged; the problem that the existing tool magazine is difficult to meet the storage requirement of large-batch tools is solved; the purpose that the tool magazine can store a large number of tools of different models is achieved.

Description

Three-dimensional tool warehouse, tool warehousing method and tool ex-warehouse method

Technical Field

The invention relates to the field of cutter storage, in particular to a three-dimensional cutter warehouse, a cutter warehousing method and a cutter ex-warehouse method.

Background

A tool is a tool used for cutting machining in machine manufacturing, and is also called a cutting tool. The tool can be divided into five categories according to the form of the workpiece processing surface: the cutter for processing various outer surfaces comprises a turning tool, a planer tool, a milling cutter, an outer surface broach, a file and the like; the hole machining tool comprises a drill bit, a reamer, a boring cutter, a reamer, an inner surface broach and the like; the thread machining tool comprises a screw tap, a screw die, an automatic opening and closing thread cutting head, a threading tool, a thread milling cutter and the like; the gear processing cutter comprises a hobbing cutter, a gear shaper cutter, a gear shaver, a bevel gear, a broach and the like; the cutting tools include an inserted circular saw blade, a band saw, a bow saw, a cutting tool, a saw blade milling cutter and the like; in addition, there are gang tools. Since the number of tools is large and the variety of tools is large, it is very necessary to efficiently store and store the tools in the field of machine manufacturing.

The existing tool magazine for accommodating tools is mostly as a flexible processing tool carrying and storing device disclosed in Chinese patent with the patent number of CN205734054U, the device comprises an operating robot for grabbing tools, a shuttle vehicle for sliding the operating robot and a tool magazine for placing tools, and a plurality of tool placing cavities which are used for placing tools and are arranged in a matrix form are formed in the tool magazine; the shuttle car slides on the slide rail through the driving motor drive, and the operation robot grabs the cutter on the tool magazine to take off and carries to the host computer through the shuttle car and carry out the tool changing and store the cutter that wears out on the host computer.

The flexible machining tool carrying and storing device provided by the patent can store tools, but the number of tools which can be stored is very limited, and the requirement of storing large-scale tools is difficult to meet.

Disclosure of Invention

In order to solve the problem that the existing tool storage warehouse is difficult to meet the storage requirement of large-batch tools, the invention provides a three-dimensional tool storage warehouse, which comprises a tool storage warehouse body, a mechanical arm and a tool goods position frame, wherein:

the top of the tool magazine main body is provided with a plurality of slide rails; the sliding rail is provided with a manipulator for taking and placing a cutter; both sides of the manipulator are provided with a cutter goods position frame; the plurality of cutter goods position frames are movably connected with the cutter storehouse main body;

a plurality of knife handle positioning sleeve mounting plates are arranged on the knife storage rack; the knife handle positioning sleeve mounting plate is provided with knife handle positioning sleeves of various sizes.

Further, the cutter goods position frame comprises a cutter goods position frame main body and positioning support legs; the positioning support legs are arranged at the bottom of the cutter goods position frame main body; the knife handle positioning sleeve mounting plate is connected with the knife goods shelf main body.

Further, the manipulator comprises a walking main frame and a lifting upright post; the walking main frame is provided with a walking gear rack and a walking guide bearing; the walking gear rack and the walking guide bearing are connected with the sliding rail; the walking power source drives the walking main frame to move on the sliding rail;

the lifting upright post penetrates through the walking main frame and is connected with the walking main frame; one end of the lifting upright post is provided with a rotary power source; the rotary power source is connected with the telescopic cylinder through a second mounting plate; the telescopic cylinder is connected with the main body end of the quick-change grabbing device through the first mounting plate.

Furthermore, two ends of the lifting upright post are provided with limit posts; the motion of the lifting upright is driven by a lifting upright power source.

Furthermore, the quick-change gripping device comprises a first handle gripping paw and a second handle gripping paw which are symmetrically arranged; the first tool handle grabbing paw and the second tool handle grabbing paw are connected to one movable end of the powerful mechanical clamping jaw; the powerful mechanical clamping jaw is connected with a quick-change device connecting piece; a positioning locking pin shaft is arranged on the quick-change device connecting piece; and a zero point positioning male head is arranged at the end part of the positioning locking pin shaft.

Further, the movement of the manipulator is controlled by a manipulator control terminal; and the manipulator control terminal is in communication connection with the manipulator.

The system comprises a tool magazine monitoring system, a data management module, an in-out management module, a query module, a report module, a receipt and inventory module and an alarm and animation module; the alarm is in communication connection with the animation module manipulator control terminal.

Further, the device also comprises a tool warehouse-out device; the tool warehouse-out device is arranged on the outer side of the tool warehouse main body and is in communication connection with the manipulator control terminal; and the tool warehouse-out device is provided with a control panel for selecting the type of the tool warehouse-out.

The invention also provides a cutter warehousing method, which adopts the cutter three-dimensional warehouse as described in any one of the above, and the method comprises the following steps;

s110, controlling the manipulator to do lifting and/or translation motion to the manipulator according to the position of the tool to be stored, so that the tool can be smoothly grabbed;

s120, after grabbing the cutter by the manipulator, identifying the model of the cutter and judging the storage position of the cutter;

s130, the manipulator drives the cutter to do lifting and/or translation motion according to the judged storage position of the cutter and places the cutter on the cutter goods shelf.

The invention also provides a tool ex-warehouse method, which adopts the tool three-dimensional warehouse of any one of the tools, and comprises the following steps;

s210, selecting the type of the cutter to be delivered out of the warehouse;

s220, judging the direction of the cutter in the cutter three-dimensional library according to the type of the cutter;

s230, controlling the manipulator to do lifting and/or translation movement until the manipulator can accurately grab the tool;

and S240, after the tool is accurately grabbed, controlling the manipulator to do lifting and/or translation motion to move the tool out of the tool three-dimensional warehouse.

The invention provides a three-dimensional tool warehouse, a tool warehouse-in method and a tool warehouse-out method, wherein the three-dimensional tool warehouse comprises a tool warehouse main body, a manipulator and a tool goods position frame, wherein: the top of the tool magazine main body is provided with a plurality of slide rails; the sliding rail is provided with a manipulator for taking and placing a cutter; both sides of the manipulator are provided with a cutter goods position frame; the plurality of cutter goods position frames are movably connected with the cutter storehouse main body; a plurality of knife handle positioning sleeve mounting plates are arranged on the knife storage rack; the knife handle positioning sleeve mounting plate is provided with knife handle positioning sleeves of various sizes. The invention provides a three-dimensional tool magazine which is characterized in that a tool magazine body, a mechanical arm, a tool goods position frame, a slide rail, a tool handle positioning sleeve mounting plate and a tool handle positioning sleeve are arranged; the problem that the existing tool magazine is difficult to meet the storage requirement of large-batch tools is solved; the purpose that the tool magazine can store a large number of tools of different models is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a perspective view of a three-dimensional magazine of tools provided by the present invention;

FIG. 2 is a top view of a three-dimensional magazine of tools provided by the present invention;

FIG. 3 is a front view of a three-dimensional magazine of tools provided by the present invention;

FIG. 4 is a perspective view of a tool storage rack of the three-dimensional magazine of tools provided by the present invention;

FIG. 5 is a perspective view of a robot of the tool magazine provided by the present invention;

FIG. 6 is an enlarged view taken at A in FIG. 5;

fig. 7 is a perspective view of the quick-change gripping device of the three-dimensional tool magazine provided by the invention;

fig. 8 is a block diagram of a tool magazine supervision system of the three-dimensional tool magazine according to the present invention.

Reference numerals:

100 tool magazine body 110 slide rail 200 robot

210 walking main frame 211 walking gear rack 212 walking guide bearing

213 traveling power source 220 lifting upright 221 limit column

First mounting plate of 222 lifting upright post power source 230 telescopic cylinder 231

232 quick-change grabbing device 241 with second mounting plate 240 and first cutter handle grabbing paw

242 powerful mechanical clamping jaw 244 quick change device connector of second handle grabbing paw 243

245 positioning locking pin shaft 246 zero point positioning male head 250 rotary power source

300 cutter goods position frame 310 handle of a knife locating sleeve mounting panel 311 handle of a knife locating sleeve

320 cutter goods shelf main part 330 location stabilizer 400 tool magazine supervisory systems

410 the data management module 420 queries the module from the database management module 430

440 report module 450 document and inventory module 460 alarm and animation module

500 cutter warehouse-out device

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "couple" or "couples" and the like are not restricted to physical or mechanical connections, but may include electrical connections, optical connections, and the like, whether direct or indirect.

The invention provides a three-dimensional tool magazine, which comprises a tool magazine main body 100, a manipulator 200 and a tool goods position frame 300, wherein: the top of the tool magazine main body 100 is provided with a plurality of slide rails 110; a manipulator 200 for taking and placing a cutter is arranged on the slide rail 110; both sides of the manipulator 200 are provided with a tool storage rack 300; the plurality of tool storage racks 300 are movably connected with the tool magazine main body 100; a plurality of tool holder positioning sleeve mounting plates 310 are arranged on the tool storage rack 300; the knife handle positioning sleeve mounting plate 310 is provided with knife handle positioning sleeves 311 of various sizes.

In specific implementation, as shown in fig. 1 to 4, the tool magazine includes a tool magazine body 100, a manipulator 200, and a tool storage rack 300, wherein: the top of the tool magazine main body 100 is provided with a plurality of slide rails 110; a manipulator 200 for taking and placing a cutter is arranged on the slide rail 110; the robot arm 200, which can slide on the slide rail 110, is used to grasp a tool.

Both sides of the manipulator 200 are provided with a tool storage rack 300; the plurality of tool storage racks 300 are movably connected with the tool magazine main body 100; this structure forms a three-dimensional structure of the tool magazine, maximizes the space utilization and the utilization of the robot 200, and increases the stability of the tool magazine.

A plurality of tool holder positioning sleeve mounting plates 310 are arranged on the tool storage rack 300; the knife handle positioning sleeve mounting plate 310 is provided with knife handle positioning sleeves 311 of various sizes; the plurality of shank positioning sleeve mounting plates 310 are spaced apart from each other by a distance such that the tools stored in the shank positioning sleeves 311 do not interfere with each other. The shapes and sizes of different cutters from the cutter handle are different, and the cutter handle positioning sleeve 311 with various sizes can be matched with various cutters.

Each tool magazine is provided with a plurality of tool storage position frames 300, each tool storage position frame 300 is provided with a plurality of tool handle positioning sleeve mounting plates 310, each tool handle positioning sleeve mounting plate 310 is provided with a plurality of tool handle positioning sleeves 311, and the number of tools which can be stored in the tool magazine is multiplied compared with the number which can be stored in the traditional tool magazine.

The invention provides a three-dimensional tool magazine which is characterized in that a tool magazine body, a mechanical arm, a tool goods position frame, a slide rail, a tool handle positioning sleeve mounting plate and a tool handle positioning sleeve are arranged; the problem that the existing tool magazine is difficult to meet the storage requirement of large-batch tools is solved; the purpose that the tool magazine can store a large number of tools of different models is achieved.

Preferably, the tool rack 300 includes a tool rack body 320, a positioning leg 330; the positioning support leg 330 is arranged at the bottom of the cutter goods shelf main body 320; the handle locating sleeve mounting plate 310 is connected with the tool storage rack main body 320.

In one embodiment, as shown in FIG. 4, the tool rack 300 includes a main body 320 and a positioning leg 330. The positioning support leg 330 is arranged at the bottom of the cutter goods shelf main body 320; with this structure, the tool storage rack 300 does not directly contact the ground, and thus the tool storage rack 300 is not worn during use. The knife handle positioning sleeve mounting plate 310 is connected with the cutter goods position frame main body 320, and the knife handle positioning sleeve mounting plate 310 and the cutter goods position frame main body 320 form a frame type structure, so that materials are saved, and the weight of the cutter three-dimensional warehouse is reduced.

Preferably, the manipulator 200 includes a traveling main frame 210 and a lifting column 220; a traveling gear rack 211 and a traveling guide bearing 212 are mounted on the traveling main frame 210; the walking gear rack 211 and the walking guide bearing 212 are connected with the sliding rail 110; the walking power source 213 drives the walking main frame 210 to move on the slide rail 110; the lifting upright column 220 penetrates through the walking main frame 210 and is connected with the walking main frame 210; one end of the lifting upright column 220 is provided with a rotary power source 250; the rotary power source 250 is connected with the telescopic cylinder 230 through a second mounting plate 232; the telescopic cylinder 230 is connected to the body end of the quick-change gripper 240 via a first mounting plate 231.

In specific implementation, as shown in the title 5-7, the manipulator 200 includes a walking main frame 210 and a lifting upright column 220; a traveling gear rack 211 and a traveling guide bearing 212 are mounted on the traveling main frame 210; the walking gear rack 211 and the walking guide bearing 212 are connected with the sliding rail 110; the walking power source 213 drives the walking main frame 210 to move on the slide rail 110; the lifting upright column 220 penetrates through the walking main frame 210 and is connected with the walking main frame 210; one end of the lifting upright column 220 is provided with a rotary power source 250; the optional power source 250 is composed of a servo motor and a harmonic reducer. The rotary power source 250 is connected with the telescopic cylinder 230 through a second mounting plate 232; the telescopic cylinder 230 is connected with the main body end of the quick-change gripping device 240 through a first mounting plate 231; the direction of the slide rail 110, the moving direction of the lifting upright column 220 and the moving direction of the cylinder piston rod of the telescopic cylinder 230 are perpendicular to each other, so that the quick-change gripping device 240 can realize movement in six directions (front, back, left, right, up and down); the connection between the telescopic cylinder 230 and the quick-change gripping device 240 is realized through the first mounting plate 231, so that the movement of the quick-change gripping device 240 is more flexible; meanwhile, the rotary power source 250 can drive the telescopic cylinder 230 to rotate, so that the quick-change gripping device 240 can rotate.

Preferably, both ends of the lifting upright column 220 are provided with limit columns 221; the motion of the lifting column 220 is driven by a lifting column power source 222.

In specific implementation, as shown in fig. 5, two ends of the lifting column 220 are both provided with a limiting column 221; the structure of the limiting column 221 can effectively prevent the lifting column 220 from making invalid movements. The motion of the lifting column 220 is driven by a lifting column power source 222.

Preferably, the quick-change gripping device 240 comprises a first handle gripping claw 241 and a second handle gripping claw 242 which are symmetrically arranged; the first handle grabbing paw 241 and the second handle grabbing paw 242 are both connected to the movable end of the powerful mechanical clamping jaw 243; the powerful mechanical clamping jaw 243 is connected with a quick-change device connecting piece 244; a positioning locking pin 245 is arranged on the quick-change device connecting piece 244; the end of the positioning locking pin 245 is provided with a zero point positioning male head 246.

In specific implementation, as shown in fig. 7, the quick-change gripping device 240 includes a first handle gripping claw 241 and a second handle gripping claw 242 which are symmetrically arranged; the first handle grabbing claw 241 and the second handle grabbing claw 242 are used for grabbing a cutter. The first handle grabbing paw 241 and the second handle grabbing paw 242 are both connected to one end of a powerful mechanical clamping jaw 243; strong mechanical gripper 243 further ensures the stability of gripping the tool by first handle gripping gripper 241 and second handle gripping gripper 242. (ii) a The powerful mechanical clamping jaw 243 is connected with a quick-change device connecting piece 244; a positioning locking pin 245 is arranged on the quick-change device connecting piece 244; the end of the positioning locking pin 245 is provided with a zero point positioning male head 246.

Preferably, the movement of the manipulator 200 is controlled by a manipulator control terminal; the manipulator control terminal is in communication connection with the manipulator 200.

Preferably, the tool magazine supervision system 400 is further included, and the tool magazine supervision system 400 includes a data management module 410, an in-out library management module 420, a query module 430, a report module 440, a document and disc library module 450, and an alarm and animation module 460; the alarm and animation module 460 is in communication with the manipulator control terminal.

In specific implementation, as shown in fig. 8, the system 400 for supervising the tool magazine further includes a data management module 410 for recording the quantity of each tool in real time, an in-out management module 420 for recording the tool in-out from the tool magazine, a query module 430 for querying the model number and the stock of the tool, a report module 440, a bill and inventory module 450, and an alarm and animation module 460; the alarm and animation module 460 is in communication connection with the manipulator control terminal; the alarm and animation module 460 displays a real-time image of the movement of the robot 200, and when the movement of the robot 200 is failed, the alarm and animation module 460 gives an alarm.

Preferably, the device also comprises a tool warehouse-out device 500; the tool warehouse-out device 500 is arranged on the outer side of the tool warehouse main body 100 and is in communication connection with the manipulator control terminal; the tool warehouse-out device 500 is provided with a control panel for selecting the type of the tool warehouse-out.

The invention also provides a cutter warehousing method, which adopts the cutter three-dimensional warehouse as described in any one of the above, and the method comprises the following steps;

s110, controlling the manipulator 200 to do lifting and/or translation motion to the manipulator 200 according to the position of the tool to be stored, so that the tool can be smoothly grabbed;

s120, after grabbing the cutter, the manipulator 200 identifies the model of the cutter and judges the storage position of the cutter;

s130, the manipulator 200 drives the cutter to do lifting and/or translation motion according to the judged storage position of the cutter, and the cutter is placed on the cutter goods shelf 300.

The invention also provides a tool ex-warehouse method, which adopts the tool three-dimensional warehouse of any one of the tools, and comprises the following steps;

s210, selecting the type of the cutter to be delivered out of the warehouse;

s220, judging the direction of the cutter in the cutter three-dimensional library according to the type of the cutter;

s230, controlling the manipulator 200 to do lifting and/or translation movement until the manipulator 200 can accurately grab the tool;

and S240, after the tool is accurately grabbed, controlling the manipulator 200 to do lifting and/or translation motion to move the tool out of the tool three-dimensional warehouse.

Although terms such as tool magazine body, slide rail, manipulator, walking main frame, walking rack and pinion, walking guide bearing, walking power source, lifting column, limit column, lifting column power source, telescopic cylinder, first mounting plate, second mounting plate, quick-change gripping device, first tool shank gripping paw, second tool shank gripping paw, powerful mechanical clamping jaw, quick-change device connecting piece, positioning locking pin, zero point positioning male head, rotary power source, tool stock position frame, tool shank positioning sleeve mounting plate, tool stock position frame body, positioning support leg, tool magazine supervision system, data management module, warehouse entry and exit management module, query module, report module, document and disc magazine module, alarm and animation module, tool warehouse exit device, etc. are used more often in this document, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A three-dimensional storehouse of cutter which characterized in that: including tool magazine main part (100), manipulator (200), tool goods position frame (300), wherein:

the top of the tool magazine main body (100) is provided with a plurality of slide rails (110); a manipulator (200) for taking and placing a cutter is arranged on the sliding rail (110); both sides of the manipulator (200) are provided with a cutter goods position frame (300); the plurality of cutter goods position frames (300) are movably connected with the cutter storehouse main body (100);

a plurality of knife handle positioning sleeve mounting plates (310) are arranged on the knife storage rack (300); the knife handle positioning sleeve mounting plate (310) is provided with knife handle positioning sleeves (311) of various sizes.

2. The tool magazine according to claim 1, characterized in that: the cutter goods position frame (300) comprises a cutter goods position frame main body (320) and a positioning support leg (330); the positioning support legs (330) are arranged at the bottom of the cutter goods position frame main body (320); the knife handle positioning sleeve mounting plate (310) is connected with the knife tool goods shelf main body (320).

3. The tool magazine according to claim 1, characterized in that: the manipulator (200) comprises a walking main frame (210) and a lifting upright post (220); a traveling gear rack (211) and a traveling guide bearing (212) are arranged on the traveling main frame (210); the walking gear rack (211) and the walking guide bearing (212) are connected with the sliding rail (110); the walking power source (213) drives the walking main frame (210) to move on the slide rail (110);

the lifting upright column (220) penetrates through the walking main frame (210) and is connected with the walking main frame (210); one end of the lifting upright post (220) is provided with a rotary power source (250); the rotary power source (250) is connected with the telescopic cylinder (230) through a second mounting plate (232); the telescopic cylinder (230) is connected with the main body end of the quick-change gripping device (240) through a first mounting plate (231).

4. The tool magazine according to claim 3, wherein: two ends of the lifting upright column (220) are provided with limit columns (221); the motion of the lifting column (220) is driven by a lifting column power source (222).

5. The tool magazine according to claim 3, wherein: the quick-change gripping device (240) comprises a first handle gripping paw (241) and a second handle gripping paw (242) which are symmetrically arranged; the first handle grabbing paw (241) and the second handle grabbing paw (242) are connected to one movable end of the powerful mechanical clamping jaw (243); the powerful mechanical clamping jaw (243) is connected with a quick-change device connecting piece (244); a positioning locking pin shaft (245) is arranged on the quick-change device connecting piece (244); and a zero point positioning male head (246) is arranged at the end part of the positioning locking pin shaft (245).

6. The tool magazine according to claim 1, characterized in that: the movement of the manipulator (200) is controlled by a manipulator control terminal; and the manipulator control terminal is in communication connection with the manipulator (200).

7. The tool magazine according to claim 6, wherein: the tool magazine monitoring system (400) comprises a data management module (410), an in-out management module (420), a query module (430), a report module (440), a document and inventory module (450) and an alarm and animation module (460); the alarm and animation module (460) is in communication connection with the manipulator control terminal.

8. The tool magazine according to claim 6, wherein: the device also comprises a tool warehouse-out device (500); the tool warehouse-out device (500) is arranged on the outer side of the tool warehouse main body (100) and is in communication connection with the manipulator control terminal; and a control panel for selecting the type of the tools to be delivered is arranged on the tool delivery device (500).

9. A tool warehousing method, which adopts the tool stereoscopic warehouse according to any one of claims 1 to 8, characterized in that the method comprises the following steps;

s110, controlling the manipulator (200) to do lifting and/or translation motion to the manipulator (200) according to the position of the tool to be stored, so that the tool can be smoothly grabbed;

s120, after grabbing the cutter, the manipulator (200) identifies the model of the cutter and judges the storage position of the cutter;

s130, the manipulator (200) drives the cutter to do lifting and/or translation motion according to the judged storage position of the cutter, and the cutter is placed on the cutter goods position frame (300).

10. A tool ex-warehouse method, which adopts the tool three-dimensional warehouse according to any one of claims 1 to 8, and is characterized by comprising the following steps;

s210, selecting the type of the cutter to be delivered out of the warehouse;

s220, judging the direction of the cutter in the cutter three-dimensional library according to the type of the cutter;

s230, controlling the manipulator (200) to do lifting and/or translation movement until the manipulator (200) can accurately grab the tool;

s240, after the tool is accurately grabbed, the manipulator (200) is controlled to do lifting and/or translation movement to move the tool out of the tool three-dimensional warehouse.

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