At present, the loading, unloading, stacking and short-distance transfer of barrel ammunition in the cavern are completed by crane, and the traditional “manual-oriented” operation mode is adopted to complete the loading, unloading and stacking of barrel ammunition, which has the problems of low hoisting automation level, large demand for personnel, high participation of personnel, strong experience dependence, high labor intensity, many links, backward means, insufficient application of high-precision online operation, scattered information and difficulty in centralized management and control. In order to meet the requirements of fast and safe loading, unloading and stacking of barrel ammunition, and meet the requirements of rapid and batch development of barrel ammunition in the form of normalized high-strength and high-density launch, an intelligent omni-directional handling equipment for long and large barrel ammunition was developed, which can quickly realize the storage and transshipment of large ammunition missiles in the army, and can be used for storage, loading and unloading, stacking and short-distance shifting operations in the warehouse of the rear maintenance and maintenance forces. The experimental results show that the designed intelligent omni-directional handling equipment for long and large barrel bombs can complete the handling and stacking of various types of barrel bombs with high efficiency and high degree of automation.