A control method for adaptive storage and retrieval of multiple types of steel cylinders

Abstract

A control method for adaptive storage and retrieval of multiple types of steel cylinders includes a steel cylinder storage mode and a steel cylinder retrieval mode. The steel cylinder retrieval mode specifically includes the following steps: (i) the stacker moves to the shelf location; (ii) the suction mechanism moves to the steel cylinder placement position; (iii) in normal conditions, the suction mechanism sucks the steel cylinder and returns to the initial position; (iv) in abnormal conditions, the servo motor switches to a torque mode, and the suction mechanism continues to move toward the steel cylinder in the location; (v) when the steel cylinder sensor senses that the steel cylinder or the servo motor torque reaches a set torque value, the suction mechanism sucks the steel cylinder and returns to the initial position; (vi) the machine stops and alarms, waiting for manual resolution. The present invention is applied to a steel cylinder automatic storage and retrieval stereoscopic warehouse, effectively solving the problem that a shorter steel cylinder cannot be taken out after sliding into the inner side of the shelf, so that multiple types of steel cylinders can be normally stored and retrieved in the steel cylinder automatic storage and retrieval stereoscopic warehouse.

Description

Technical Field

[0001] The invention relates to the technical field of steel cylinder storage and access, and in particular to a control method for adaptive storage and access of multiple types of steel cylinders. Background Art

[0002] The applicant applied for a Chinese invention patent on December 6, 2021, with application number 2021114772125, which specifically discloses a sulfur hexafluoride gas cylinder three-dimensional warehouse system based on the Internet of Things. As a product with many advantages such as automatic storage and retrieval, data transparency, and low labor costs, this sulfur hexafluoride gas cylinder three-dimensional warehouse system based on the Internet of Things still has some problems that need to be optimized.

[0003] Among them, sulfur hexafluoride cylinders mostly use 40L standard cylinders, but standard cylinders also have different lengths. According to our company's on-site use and the cylinder parameters of some manufacturers, the length of a 40L cylinder is usually between 1420mm and 1520mm. The inconsistent length increases the difficulty of automatic storage and retrieval.

[0004] The shelf used to store steel cylinders has a standard length of 1520mm. A baffle is installed at the inner end of the shelf. To prevent the steel cylinders from sliding off the shelf, the shelf is high on the outside and low on the inside with a small inclination. When storing and retrieving steel cylinders, the servo system of the stacker is in position mode. In position mode, the Z-axis servo motor on the stacker drives the magnet to move toward the shelf to the cylinder storage position, and the magnet pushes the cylinder onto the shelf. When the cylinder is stored in the shelf, the magnet is demagnetized, and the friction of the supporting steel wheels on the shelf is very small, resulting in the possibility that cylinders with a length less than 1520mm may slide to the inside of the shelf.

[0005] Under the control of the servo system, when the stacker wants to take out the cylinder from the shelf, the Z-axis servo motor of the stacker still drives the magnet to move to the position where the cylinder is placed. Since the cylinders with a length less than 1520mm have already slipped into the shelf, the magnet cannot attract the cylinder at the storage position and cannot be taken out. Cylinders with a length less than 1520mm are not suitable for the cylinder stereoscopic warehouse. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the present invention provides a control method for adaptive storage and retrieval of multiple types of steel cylinders. The present invention is applied to a steel cylinder automatic storage and retrieval stereoscopic warehouse, which effectively solves the problem that shorter steel cylinders cannot be taken out after sliding into the inside of the shelf, so that multiple types of steel cylinders can be normally stored and retrieved in the steel cylinder automatic storage and retrieval stereoscopic warehouse.

[0007] To achieve the above object, the present invention adopts the following technical solution:

[0008] A control method for adaptive access of multiple types of steel cylinders includes two working modes:

[0009] The first working mode is the cylinder storage mode, which specifically includes the following steps:

[0010] (1) The stacker moves the steel cylinder to the shelf position through a multi-type steel cylinder adaptive storage and retrieval bracket, and the multi-type steel cylinder adaptive storage and retrieval bracket includes a suction mechanism, a servo motor and a steel cylinder sensor;

[0011] (2) The servo motor drives the suction mechanism to move from the initial position to the cylinder placement position, and the suction mechanism pushes the cylinder into the cargo position;

[0012] (3) The suction mechanism releases the cylinder and returns to its initial position driven by the servo motor;

[0013] The second working mode is the cylinder taking mode, which specifically includes the following steps:

[0014] (i) The stacker moves to the shelf location;

[0015] (ii) The servo motor drives the clamping mechanism to move from the initial position to the cylinder placement position;

[0016] (iii) Under normal circumstances, the cylinder sensor senses the cylinder, and the clamping mechanism clamps the cylinder and returns it to its initial position;

[0017] (iv) In the event of an abnormality, the cylinder sensor does not sense the cylinder, the servo motor switches to torque mode, and the servo motor drives the clamping mechanism to continue moving toward the cylinder in the cargo position;

[0018] (v) During the movement of the clamping mechanism, the cylinder sensor senses that the cylinder or the servo motor torque reaches the set torque value. When either condition occurs, the servo motor immediately switches to the position mode, and the clamping mechanism clamps the cylinder and returns to the initial position. Otherwise, the clamping mechanism continues to move toward the cylinder in the cargo space.

[0019] (vi) If the servo motor torque has not reached the set torque value, and the servo motor drives the clamping mechanism to move toward the cylinder in the cargo position beyond the set distance in the torque mode, the machine will stop and alarm, waiting for manual resolution.

[0020] The adaptive storage and retrieval bracket for multiple types of cylinders also includes a stacking lifting beam and a servo control system. The stacking lifting beam is horizontally arranged in the left and right directions. A fixed seat is arranged in the middle of the rear side of the stacking lifting beam, and the fixed seat is installed on the lifting slide of the stacker lifting mechanism. The suction mechanism is arranged on the front side of the stacking lifting beam for sliding left and right. The servo motor is installed on the stacking lifting beam. The servo motor drives the suction mechanism to move back and forth left and right through the screw nut mechanism. The bottom front edge of the stacking lifting beam is fixedly connected with a plurality of cylinder brackets arranged at intervals left and right and located below the suction mechanism. The cylinder sensor is arranged on the right side of the suction mechanism. The servo control system is arranged on the stacker, and the servo control system is respectively connected to the suction mechanism, the servo motor and the cylinder sensor.

[0021] The stacking lifting beam includes a trough beam which is transparent on the left and right sides and arranged with the open side facing forward, a rectangular end plate is fixed on the left end of the trough beam, a chassis is arranged in the right end of the trough beam, an initial position switch is arranged on the left end of the front side edge of the top front face of the upper side plate of the trough beam, a cylinder placement position switch is arranged on the right side of the front side edge of the upper side surface of the trough beam, and an extreme position switch is arranged on the right end of the front side edge of the upper side surface of the trough beam, and two guide rails spaced apart from each other are fixed horizontally in the trough beam along the left and right directions, the guide rails are fixed on the inner side surface of the rear side plate of the trough beam, the left end of the guide rails is fixed on the rectangular end plate, and the right end of the guide rails is fixed on the left side plate of the chassis, and each cylinder bracket is respectively installed on the bottom surface of the lower side plate of the trough beam, and the servo control system is respectively connected to the initial position switch, the cylinder placement position switch and the extreme position switch through signal cables.

[0022] The clamping mechanism includes a rectangular box seat and an electromagnetic suction cup. The rectangular box seat is horizontally arranged on the front side of the slot beam along the left-right direction and is located directly above a corresponding cylinder bracket. A concentric circular flange plate is fixedly connected to the right side of the rectangular box seat. The electromagnetic suction cup is fixedly connected to the right side of the circular flange plate concentrically. A double-ear plate support with open upper, lower and rear sides is fixedly connected to the middle of the rear side of the rectangular box seat. The up-down dimension of the double-ear plate support is smaller than the width of the slot of the slot beam. The rear side of the double-ear plate support is embedded in the inner side of the slot of the slot beam. The upper and lower sides of the two side plates of the double-ear plate support are A rectangular flat plate located outside the notch of the trough beam is fixedly connected between them, sliders are fixedly installed between the upper and lower sides of the rear sides of the two side plates of the double-ear plate support, the two sliders are symmetrically arranged up and down and are respectively slidably connected to the two guide rails, a reinforcement plate vertically arranged in the left and right directions is fixedly connected between the middle rear sides of the two side plates of the double-ear plate support, and test pieces respectively adapted to the initial position switch, the cylinder placement position switch and the limit position switch are fixedly installed in the middle of the rear side of the upper side of the rectangular flat plate on the upper side, and the servo control system is connected to the electromagnetic suction cup through a signal cable.

[0023] The lead screw and nut mechanism includes a lead screw and a nut. The servo motor is fixedly installed inside the chassis. The power shaft of the servo motor is located on the left side of the servo motor and is horizontally arranged in the left-right direction. The power shaft of the servo motor passes through the left side plate of the chassis and is rotatably connected to the left side plate of the chassis. The lead screw is horizontally arranged in the left-right direction in the slot beam and is located in the middle of the two guide rails. The left end of the lead screw is rotatably installed on the rectangular end plate. The right end of the lead screw is coaxially connected to the left end of the power shaft of the servo motor through a coupling. The nut is sleeved on the lead screw and is threadably connected to the lead screw. The front side of the nut is located between the two side plates of the double-ear plate support and is fixedly connected to the reinforcement plate.

[0024] The cylinder sensor includes a contact travel switch, a guide sleeve, a guide rod and a trigger sheet. The contact travel switch is fixedly installed on the middle of the top surface of the rectangular box seat by fasteners. A convex plate is integrally formed on the upper side of the outer circumference of the annular flange plate. The guide sleeve is horizontally fixedly installed on the left side of the convex plate along the left and right directions. The guide rod horizontally penetrates the guide sleeve and the convex plate along the left and right directions. The guide rod is slidably connected with the guide sleeve and the convex plate. The right end of the guide rod is located above the right side of the right side of the electromagnetic chuck. A stopper is arranged on the right end of the guide rod. The lower side of the stopper is located on the right side of the upper side of the right side of the electromagnetic chuck. The guide rod is sleeved with a pressure spring pressed between a stopper and a convex plate, and the left end of the guide rod extends to the left from the left end of the guide sleeve, the trigger piece is tilted with the left side lower and the right side higher, the lower side of the trigger piece is hinged to the bottom of the right side surface of the shell of the contact travel switch and its hinge axis is horizontally arranged along the front and rear direction, the upper side of the trigger piece is fixedly connected with a clamping plate fastened on the left end part of the guide rod, and the lower side of the right side surface of the shell of the contact travel switch is provided with a sensor probe located on the left side of the lower side of the trigger piece and adapted to the trigger piece, and the servo control system is connected to the contact travel switch through a signal cable.

[0025] The cylinder bracket includes two lifting plates, which are arranged at intervals on the left and right. The lifting plates are vertically arranged on the front side of the bottom of the channel steel support beam along the front-to-back direction. The lifting plates are in an arc-shaped hook structure, and the open side of the lifting plates faces upward. A cross bar is fixedly connected between the middle and front sides of the two lifting plates. A rib plate vertically arranged along the left and right direction is fixedly connected between the rear edge portions of the two lifting plates. The upper side of the rib plate is integrally formed with a horizontal fold fixedly connected to the front edge of the lower side of the lower side plate of the channel beam. The front and rear sides of the upper side of the lifting plate are both provided with recesses. The two supporting plates are fixedly connected with channel steel support rods between the front and rear sides of the upper sides, the left ends of the two channel steel support rods are respectively fixedly arranged in the two grooves on the left, and the right ends of the two channel steel support rods are respectively fixedly arranged in the two grooves on the right, the front channel steel support rod is transparent on the left and right and the open side is arranged toward the upper rear, the rear channel steel support rod is transparent on the left and right and the open side is arranged toward the upper front, a number of supporting rollers spaced apart on the left and right are rotatably installed in the grooves of the two channel steel support rods, and the upper sides of the supporting rollers protrude from the grooves of the channel steel support rods.

[0026] Cable drag chains are arranged on the left side of the top surface of the rectangular box seat and the upper side surface of the upper side plate of the trough beam, and each signal cable is arranged in the cable drag chain.

[0027] In cylinder storage mode:

[0028] Step (1) specifically includes: the steel cylinders to be stored are placed on each steel cylinder bracket in advance, the suction mechanism is in the initial position, the test piece is in contact with the initial position switch, the servo control system controls the electromagnetic suction cup to be energized and magnetized, the electromagnetic suction cup sucks the bottom of the steel cylinder, the bottom of the steel cylinder presses the block, so that the right end of the guide rod is aligned with the right side of the electromagnetic suction cup, the block compresses the pressing spring, the left end of the guide rod presses the trigger piece, the trigger piece is pressed and contacted with the sensor probe, the sensor probe transmits the pressure signal to the contact travel switch, the contact travel switch sends a signal to the servo control system, indicating that the steel cylinder sensor senses the steel cylinder, the stacker moves under the control of the servo control system and transports the steel cylinder to the shelf cargo position, the rightmost steel cylinder bracket is aligned with the left end of the cargo position;

[0029] Step (2) is specifically as follows: the servo control system controls the servo motor to start, the power shaft of the servo motor drives the lead screw to rotate, the lead screw drives the nut to move to the right, the nut drives the rectangular box seat to move to the right through the double-ear plate support, the rectangular box seat drives the electromagnetic suction cup to move to the right to the cylinder placement position, the test piece moves to the cylinder placement position switch and contacts the cylinder placement position switch, the servo control system receives the cylinder placement position switch signal to control the servo motor to stop, and the electromagnetic suction cup pushes the cylinder into the cargo position;

[0030] Step (3) is specifically as follows: the servo control system controls the electromagnetic suction cup to be powered off and demagnetized, regardless of whether the cylinder slides toward the inside of the cargo space, and then the servo control system controls the servo motor to rotate in the opposite direction. The servo motor drives the nut to move to the initial position through the lead screw, so that the rectangular box seat drives the electromagnetic suction cup to return to the initial position, and the test piece returns to the initial position switch and contacts the initial position switch. The servo control system receives the initial position switch signal to control the servo motor to stop, thereby completing the cylinder storage work.

[0031] In cylinder mode:

[0032] Step (ii) is specifically as follows: the servo control system controls the electromagnetic chuck to be energized and magnetized, and controls the servo motor to start, and the servo motor drives the rectangular box seat to move from the initial position to the cylinder placement position through the lead screw and the nut, and then the rectangular box seat drives the electromagnetic chuck to move rightward to the cylinder placement position, and the test piece moves to the cylinder placement position switch and contacts the cylinder placement position switch, and the servo control system receives the cylinder placement position switch signal to control the servo motor to stop;

[0033] Step (iii) is specifically as follows: under normal circumstances, the steel cylinder is of standard length and has not slid toward the inside of the cargo space. Then, when the electromagnetic suction cup moves to the right to the steel cylinder placement position, the block presses against the bottom of the steel cylinder, causing the guide rod to move to the left relative to the guide sleeve until the right end of the guide rod is aligned with the right side of the electromagnetic suction cup. The block compresses the pressure spring, and the left end of the guide rod presses against the trigger plate. The trigger plate is pressed against the sensor probe, and the sensor probe transmits a pressure signal to the contact travel switch. The contact travel switch sends a signal to the servo control system, indicating that the steel cylinder sensor senses the steel cylinder, and the electromagnetic suction cup sucks the bottom of the steel cylinder. Then, the servo control system controls the servo motor to rotate in the opposite direction. The servo motor drives the nut to move to the initial position through the lead screw, so that the rectangular box seat drives the electromagnetic suction cup to return to the initial position. The electromagnetic suction cup draws the steel cylinder to each steel cylinder bracket, and the test piece returns to the initial position switch and contacts the initial position switch. The servo control system receives the initial position switch signal to control the servo motor to stop, completing the steel cylinder removal work.

[0034] Step (iv) is specifically as follows: when the cylinder is abnormally short of the standard length and slides toward the inside of the cargo space, when the electromagnetic suction cup moves to the right to the cylinder placement position, the trigger plate does not come into tight contact with the sensor probe, the cylinder sensor cannot sense the cylinder, and the servo control system controls the servo motor to switch to the torque mode, and the servo motor drives the suction mechanism to continue to move toward the cylinder in the cargo space;

[0035] The maximum value of the set distance value in step (vi) is the distance between the cylinder placement position switch and the limit position switch.

[0036] Compared with the prior art, the present invention has outstanding substantial features and remarkable progress. Specifically, the present invention is applied to the automatic storage and retrieval stereoscopic warehouse for steel cylinders, which effectively solves the problem that shorter steel cylinders cannot be taken out after sliding into the inside of the shelf, so that various types of steel cylinders can be normally stored and retrieved in the automatic storage and retrieval stereoscopic warehouse for steel cylinders. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the adaptive storage and retrieval bracket for multiple types of steel cylinders of the present invention.

[0038] Figure 2 It is a schematic diagram of the structure of cylinders stored on the shelf.

[0039] Figure 3 It is a flowchart of the workflow of the steel cylinder taking mode of the present invention.

[0040] Figure 4 yes Figure 1 A partial enlarged view of point A in the middle.

[0041] Figure 5 yes Figure 1 A partial enlarged view of point B in the middle. DETAILED DESCRIPTION

[0042] The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0043] like Figure 1-5 As shown, a control method for adaptive access of multiple types of cylinders includes two working modes:

[0044] The first working mode is the cylinder storage mode, which specifically includes the following steps:

[0045] (1) The stacker moves the steel cylinder 1 to the cargo position of the shelf 2 through the multi-type steel cylinder adaptive storage and retrieval bracket, and the multi-type steel cylinder adaptive storage and retrieval bracket includes a suction mechanism, a servo motor and a steel cylinder sensor;

[0046] (2) The servo motor drives the suction mechanism to move from the initial position to the cylinder placement position, and the suction mechanism pushes the cylinder 1 into the cargo position;

[0047] (3) The suction mechanism releases the cylinder 1 and returns to the initial position driven by the servo motor;

[0048] The second working mode is the cylinder taking mode, which specifically includes the following steps:

[0049] (i) The stacker moves to the shelf 2;

[0050] (ii) The servo motor drives the clamping mechanism to move from the initial position to the cylinder placement position;

[0051] (iii) Under normal circumstances, the cylinder sensor senses cylinder 1, and the clamping mechanism clamps cylinder 1 and returns it to the initial position;

[0052] (iv) In the event of an abnormality, the cylinder sensor does not sense cylinder 1, the servo motor switches to torque mode, and the servo motor drives the clamping mechanism to continue moving toward cylinder 1 in the cargo space;

[0053] (v) During the movement of the clamping mechanism, the cylinder sensor senses cylinder 1 or the servo motor torque reaches the set torque value. When either of the two conditions occurs, the servo motor immediately switches to the position mode, and the clamping mechanism clamps cylinder 1 and returns to the initial position. Otherwise, the clamping mechanism continues to move toward cylinder 1 in the cargo space;

[0054] (vi)

[0055] If the cylinder sensor has not sensed the cylinder or the servo motor torque has not reached the set torque value, and the servo motor drives the suction mechanism to move toward cylinder 1 in the cargo position exceeding the set distance value in the torque mode, the machine will stop and alarm, waiting for manual resolution.

[0056] The adaptive storage and retrieval bracket for multiple types of cylinders also includes a stacking lifting beam and a servo control system. The stacking lifting beam is horizontally arranged in the left and right directions. A fixed seat 3 is arranged in the middle of the rear side of the stacking lifting beam. The fixed seat 3 is installed on the lifting slide (existing technology) of the stacker lifting mechanism. The suction mechanism is arranged on the front side of the stacking lifting beam for sliding left and right. The servo motor is installed on the stacking lifting beam. The servo motor drives the suction mechanism to move back and forth left and right through the screw nut mechanism. The bottom front edge of the stacking lifting beam is fixedly connected with a plurality of cylinder brackets 36 arranged at intervals left and right and located below the suction mechanism. The cylinder sensor is arranged on the right side of the suction mechanism. The servo control system is arranged on the stacker. The servo control system is respectively connected to the suction mechanism, the servo motor and the cylinder sensor.

[0057] The stacking lifting beam includes a trough beam 4 which is transparent on the left and right sides and is arranged with the open side facing forward. A rectangular end plate 5 is fixed to the left end of the trough beam 4, and a chassis 6 is arranged in the right end of the trough beam 4. An initial position switch 7 is arranged at the left end of the front side edge of the upper side plate of the trough beam 4, a cylinder placement position switch 8 is arranged at the right part of the front side edge of the upper side surface of the trough beam 4, and an extreme position switch 9 located on the right side of the front side edge of the upper side surface of the trough beam 4 is arranged. Two guide rails 10 spaced apart from each other are fixed horizontally in the trough beam 4 along the left and right directions. The guide rail 10 is fixed on the inner side surface of the rear side plate of the trough beam 4, the left end of the guide rail 10 is fixed on the rectangular end plate 5, and the right end of the guide rail 10 is fixed on the left side plate of the chassis 6. Each cylinder bracket 36 is respectively installed on the bottom surface of the lower side plate of the trough beam 4, and the servo control system is respectively connected to the initial position switch 7, the cylinder placement position switch 8 and the extreme position switch 9 through signal cable signals.

[0058] The clamping mechanism includes a rectangular box seat 11 and an electromagnetic suction cup 12. The rectangular box seat 11 is horizontally arranged in the left-right direction on the front side of the channel beam 4 and is located directly above a corresponding cylinder bracket 36. A concentric annular flange plate 13 is fixedly connected to the right side of the rectangular box seat 11. The electromagnetic suction cup 12 is concentrically fixedly connected to the right side of the annular flange plate 13. A double-ear plate support 14 with open upper, lower and rear sides is fixedly connected to the middle of the rear side of the rectangular box seat 11. The up-down dimension of the double-ear plate support 14 is smaller than the width of the notch of the channel beam 4. The rear side of the double-ear plate support 14 is embedded in the inner side of the notch of the channel beam 4. The upper and lower sides of the two side plates of the double-ear plate support 14 are fixedly connected to the upper and lower sides of the two side plates of the double-ear plate support 14. A rectangular plate 15 located outside the notch of the channel beam 4 is fixedly connected between the side edges, a slider 16 is fixedly installed between the upper side and the lower side of the rear side edges of the two side plates of the double-ear plate support 14, the two sliders 16 are symmetrically arranged up and down and are respectively slidably connected to the two guide rails 10, a reinforcing plate 17 vertically arranged along the left and right directions is fixedly connected between the middle rear sides of the two side plates of the double-ear plate support 14, a test piece 18 respectively adapted to the initial position switch 7, the cylinder placement position switch 8 and the limit position switch 9 is fixedly installed in the middle of the rear side of the upper side of the rectangular plate 15 on the upper side, and the servo control system is connected to the electromagnetic suction cup 12 through a signal cable signal.

[0059] The screw and nut mechanism includes a screw 19 and a nut 20. The servo motor is fixedly installed inside the chassis 6. The power shaft of the servo motor is located on the left side of the servo motor and is horizontally arranged along the left-right direction. The power shaft of the servo motor passes through the left side plate of the chassis 6 and is rotatably connected to the left side plate of the chassis 6. The screw 19 is horizontally arranged in the left-right direction in the slot beam 4 and is located in the middle of the two guide rails 10. The left end of the screw 19 is rotatably installed on the rectangular end plate 5. The right end of the screw 19 is coaxially connected to the left end of the power shaft of the servo motor through a coupling. The nut 20 is sleeved on the screw 19 and is threadably connected to the screw 19. The front side of the nut 20 is located between the two side plates of the double-ear plate support 14 and is fixedly connected to the reinforcing plate 17.

[0060] The cylinder sensor includes a contact travel switch 21, a guide sleeve 22, a guide rod 23 and a trigger sheet 24. The contact travel switch 21 is fixedly mounted on the middle of the top surface of the rectangular box seat 11 by fasteners. A convex plate 25 is integrally formed on the upper side of the outer circumference of the annular flange plate 13. The guide sleeve 22 is horizontally fixedly mounted on the left side of the convex plate 25 along the left and right directions. The guide rod 23 horizontally penetrates the guide sleeve 22 and the convex plate 25 along the left and right directions. The guide rod 23 is slidably connected with the guide sleeve 22 and the convex plate 25. The right end of the guide rod 23 is located above the right side of the right side of the electromagnetic suction cup 12. A stopper 26 is provided on the right end of the guide rod 23. The lower side of the stopper 26 is located on the right side of the electromagnetic suction cup 12 On the right side of the side, the guide rod 23 is sleeved with a pressure spring 27 pressed between a stopper 26 and a convex plate 25, and the left end of the guide rod 23 extends to the left from the left end of the guide sleeve 22, and the trigger piece 24 is tilted with the left side lower and the right side higher, and the lower side of the trigger piece 24 is hinged to the bottom of the right side surface of the shell of the contact travel switch 21 and its hinge axis is horizontally arranged along the front-to-back direction, and the upper side of the trigger piece 24 is fixedly connected with a clamping plate 28 fastened on the left end part of the guide rod 23, and the lower side of the right side surface of the shell of the contact travel switch 21 is provided with a sensor probe 29 located on the left side of the lower side of the trigger piece 24 and adapted to the trigger piece 24, and the servo control system is connected to the contact travel switch 21 through a signal cable.

[0061] The cylinder bracket 36 includes two lifting plates 30, which are arranged at intervals on the left and right sides. The lifting plates 30 are vertically arranged on the front side of the bottom of the channel steel support beam along the front-to-back direction. The lifting plates 30 are in an arc-shaped hook structure, and the open side of the lifting plates 30 faces upward. A cross bar 31 is fixedly connected between the middle and front sides of the two lifting plates 30. A rib plate 32 vertically arranged along the left-right direction is fixedly connected between the rear side edges of the two lifting plates 30. The upper side of the rib plate 32 is integrally formed with a horizontal folded edge fixedly connected to the front edge of the lower side of the lower side plate of the channel beam 4. The upper side of the lifting plate 30 is provided with a front side and a rear side. There are grooves, and channel steel support rods 33 are fixedly connected between the front side parts and the rear side parts of the upper sides of the two lifting plates 30. The left ends of the two channel steel support rods 33 are respectively fixedly clamped in the two grooves on the left side, and the right ends of the two channel steel support rods 33 are respectively fixedly clamped in the two grooves on the right side. The front channel steel support rod 33 is transparent on the left and right sides and the open side is set to the rear and upper side, and the rear channel steel support rod 33 is transparent on the left and right sides and the open side is set to the front and upper side. A plurality of support rollers 34 spaced apart on the left and right are rotatably installed in the grooves of the two channel steel support rods 33, and the upper side of the support rollers 34 protrudes from the grooves of the channel steel support rods 33. The support rollers 34 are used to support the steel cylinder 1, so that the movement resistance of the steel cylinder 1 is greatly reduced.

[0062] The left side of the top surface of the rectangular box seat 11 and the upper side of the upper side plate of the channel beam 4 are both provided with a cable drag chain 35, and each signal cable is arranged in the cable drag chain 35. The cable drag chain 35 is convenient for storing each signal cable.

[0063] In cylinder storage mode:

[0064] Step (1) specifically includes: the steel cylinder 1 to be stored is placed on each steel cylinder bracket 36 in advance, the suction mechanism is in the initial position, the test piece 18 is in contact with the initial position switch 7, the servo control system controls the electromagnetic suction cup 12 to be energized and magnetized, the electromagnetic suction cup 12 sucks the bottom of the steel cylinder 1, the bottom of the steel cylinder 1 presses the stopper 26, so that the right end of the guide rod 23 is aligned with the right side of the electromagnetic suction cup 12, the stopper 26 compresses the pressing spring 27, the left end of the guide rod 23 presses the trigger piece 24, the trigger piece 24 is pressed and contacted with the sensor probe 29, the sensor probe 29 transmits a pressure signal to the contact travel switch 21, the contact travel switch 21 sends a signal to the servo control system, indicating that the steel cylinder sensor senses the steel cylinder 1, the stacker moves under the control of the servo control system and transports the steel cylinder 1 to the cargo position of the shelf 2, and the rightmost steel cylinder bracket 36 is aligned with the left end of the cargo position;

[0065] Step (2) is specifically as follows: the servo control system controls the servo motor to start, the power shaft of the servo motor drives the lead screw 19 to rotate, the lead screw 19 drives the nut 20 to move to the right, and the nut 20 drives the rectangular box seat 11 to move to the right through the double-ear plate support 14, and the rectangular box seat 11 drives the electromagnetic suction cup 12 to move to the right to the cylinder placement position, the test piece 18 moves to the cylinder placement position switch 8 and contacts the cylinder placement position switch 8, the servo control system receives the signal from the cylinder placement position switch 8 to control the servo motor to stop, and the electromagnetic suction cup 12 pushes the cylinder 1 into the cargo position;

[0066] Step (3) is specifically as follows: the servo control system controls the electromagnetic suction cup 12 to be powered off and demagnetized, regardless of whether the steel cylinder 1 slides toward the inner side of the cargo space, and then the servo control system controls the servo motor to rotate in the opposite direction, and the servo motor drives the nut 20 to move to the initial position through the lead screw 19, so that the rectangular box seat 11 drives the electromagnetic suction cup 12 to return to the initial position, and the test piece 18 returns to the initial position switch 7 and contacts the initial position switch 7. The servo control system receives the signal from the initial position switch 7 to control the servo motor to stop, and the steel cylinder storage work is completed.

[0067] In cylinder mode:

[0068] Step (ii) is specifically as follows: the servo control system controls the electromagnetic suction cup 12 to be energized and magnetized, and controls the servo motor to start, and the servo motor drives the rectangular box seat 11 to move from the initial position to the cylinder placement position through the lead screw 19 and the nut, and then the rectangular box seat 11 drives the electromagnetic suction cup 12 to move rightward to the cylinder placement position, and the test piece 18 moves to the cylinder placement position switch 8 and contacts the cylinder placement position switch 8, and the servo control system receives the signal from the cylinder placement position switch 8 to control the servo motor to stop;

[0069] Step (iii) is specifically as follows: Under normal circumstances, the steel cylinder 1 is of standard length and does not slide toward the inside of the cargo space. Then, when the electromagnetic suction cup 12 moves rightward to the steel cylinder placement position, the stopper 26 presses against the bottom of the steel cylinder 1, causing the guide rod 23 to move leftward relative to the guide sleeve 22 until the right end of the guide rod 23 is aligned with the right side of the electromagnetic suction cup 12. The stopper 26 compresses the pressing spring 27, and the left end of the guide rod 23 presses against the triggering piece 24. The triggering piece 24 is pressed against the sensor probe 29, and the sensor probe 29 transmits the pressure signal to the contact travel switch 21. The contact travel switch 21 A signal is sent to the servo control system, indicating that the cylinder sensor senses the cylinder 1, and the electromagnetic suction cup 12 sucks the bottom of the cylinder 1, and then the servo control system controls the servo motor to rotate in the opposite direction, and the servo motor drives the nut 20 to move to the initial position through the screw 19, so that the rectangular box seat 11 drives the electromagnetic suction cup 12 to return to the initial position, and the electromagnetic suction cup 12 draws the cylinder 1 to each cylinder bracket 36, and the test piece 18 returns to the initial position switch 7 and contacts the initial position switch 7. The servo control system receives the signal of the initial position switch 7 to control the servo motor to stop, and the cylinder removal work is completed;

[0070] Step (iv) is specifically as follows: when the length of the steel cylinder 1 is less than the standard length in an abnormal situation, the steel cylinder 1 slides toward the inside of the cargo space. When the electromagnetic suction cup 12 moves rightward to the steel cylinder placement position, the trigger plate 24 does not come into tight contact with the sensor probe 29, and the steel cylinder sensor cannot sense the steel cylinder 1. The servo control system controls the servo motor to switch to the torque mode, and the servo motor drives the suction mechanism to continue to move toward the steel cylinder 1 in the cargo space.

[0071] The maximum value of the set distance value in step (vi) is the distance between the cylinder placement position switch 8 and the limit position switch 9.

[0072] The present invention is applied to the automatic storage and retrieval stereoscopic warehouse for steel cylinders, effectively solving the problem that a shorter steel cylinder cannot be taken out after sliding into the inner side of the shelf 2, so that various types of steel cylinders can be normally stored and retrieved in the automatic storage and retrieval stereoscopic warehouse for steel cylinders.

[0073] The stacker, servo control system, servo motor, signal cable and coupling are not shown in the figure. The stacker, servo control system, servo motor, initial position switch 7, cylinder placement position switch 8, limit position switch 9, guide rail 10, test piece 18, screw 19, nut 20, contact travel switch 21, sensor probe 29 and cable drag chain 35 are all existing conventional technologies, and the specific structure and working principle are not repeated here. The signal control involved in the present invention is all conventional technology and does not involve new computer programs.

[0074] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for adaptive access of multiple types of steel cylinders, characterized by: There are two working modes: The first working mode is the cylinder storage mode, which specifically includes the following steps: (1) The stacker moves the steel cylinder to the shelf position through a multi-type steel cylinder adaptive storage and retrieval bracket, and the multi-type steel cylinder adaptive storage and retrieval bracket includes a suction mechanism, a servo motor and a steel cylinder sensor; (2) The servo motor drives the suction mechanism to move from the initial position to the cylinder placement position, and the suction mechanism pushes the cylinder into the cargo position; (3) The suction mechanism releases the cylinder and returns to its initial position driven by the servo motor; The second working mode is the cylinder taking mode, which specifically includes the following steps: (i) The stacker moves to the shelf location; (ii) The servo motor drives the clamping mechanism to move from the initial position to the cylinder placement position; (iii) Under normal circumstances, the cylinder sensor senses the cylinder, and the clamping mechanism clamps the cylinder and returns it to its initial position; (iv) In the event of an abnormality, the cylinder sensor does not sense the cylinder, the servo motor switches to torque mode, and the servo motor drives the clamping mechanism to continue moving toward the cylinder in the cargo position; (v) During the movement of the clamping mechanism, the cylinder sensor senses that the cylinder or the servo motor torque reaches the set torque value. When either condition occurs, the servo motor immediately switches to the position mode, and the clamping mechanism clamps the cylinder and returns to the initial position. Otherwise, the clamping mechanism continues to move toward the cylinder in the cargo space. (vi) If the cylinder sensor has not sensed the cylinder or the servo motor torque has not reached the set torque value, and the servo motor drives the clamping mechanism to move toward the cylinder in the cargo position beyond the set distance in the torque mode, the machine will stop and alarm, waiting for manual resolution; The multi-type steel cylinder adaptive storage and retrieval bracket also includes a stacking lifting beam and a servo control system. The stacking lifting beam is horizontally arranged in the left and right direction. A fixed seat is arranged in the middle of the rear side of the stacking lifting beam. The fixed seat is installed on the lifting slide of the stacker lifting mechanism. The suction mechanism is arranged on the front side of the stacking lifting beam for sliding left and right. The servo motor is installed on the stacking lifting beam. The servo motor drives the suction mechanism to move back and forth left and right through the screw nut mechanism. The bottom front side edge of the stacking lifting beam is fixedly connected with a plurality of steel cylinder brackets arranged at intervals left and right and located below the suction mechanism. The steel cylinder sensor is arranged on the right side of the suction mechanism. The servo control system is arranged on the stacker. The servo control system is connected to the suction mechanism, the servo motor and the steel cylinder sensor respectively. The stacking lifting crossbeam comprises a trough beam which is transparent on the left and right sides and is arranged with the open side facing forward, a rectangular end plate is fixed on the left end of the trough beam, a machine box is arranged in the right end of the trough beam, an initial position switch is arranged on the left end of the front side edge of the top front face of the upper side plate of the trough beam, a cylinder placement position switch is arranged on the right side of the front side edge of the upper side surface of the trough beam, and an extreme position switch is arranged on the right side of the front side edge of the upper side surface of the trough beam, two guide rails spaced up and down are fixed horizontally in the trough beam along the left and right directions, the guide rails are fixed on the inner side of the rear side plate of the trough beam, the left end of the guide rails is fixed on the rectangular end plate, and the right end of the guide rails is fixed on the left side plate of the machine box, and each cylinder bracket is correspondingly installed on the bottom surface of the lower side plate of the trough beam, and the servo control system is respectively connected with the initial position switch, the cylinder placement position switch and the extreme position switch through signal cables; The clamping mechanism includes a rectangular box seat and an electromagnetic suction cup. The rectangular box seat is horizontally arranged on the front side of the slot beam along the left-right direction and is located directly above a corresponding cylinder bracket. A concentric circular flange plate is fixedly connected to the right side of the rectangular box seat. The electromagnetic suction cup is fixedly connected to the right side of the circular flange plate concentrically. A double-ear plate support with open upper, lower and rear sides is fixedly connected to the middle of the rear side of the rectangular box seat. The up-down dimension of the double-ear plate support is smaller than the width of the slot of the slot beam. The rear side of the double-ear plate support is embedded in the inner side of the slot of the slot beam. The upper and lower sides of the two side plates of the double-ear plate support are A rectangular flat plate located outside the notch of the channel beam is fixedly connected between the two sides of the double-ear plate support, a slider is fixedly installed between the upper side parts and the lower side parts of the rear side edges of the two side plates of the double-ear plate support, and the two sliders are symmetrically arranged up and down and respectively slidably connected to the two guide rails, a reinforcing plate vertically arranged in the left and right directions is fixedly connected between the middle rear sides of the two side plates of the double-ear plate support, and a test piece respectively adapted to the initial position switch, the cylinder placement position switch and the limit position switch is fixedly installed in the middle of the rear side of the upper side of the rectangular flat plate on the upper side, and the servo control system is connected to the electromagnetic suction cup through a signal cable signal; The lead screw and nut mechanism includes a lead screw and a nut. The servo motor is fixedly installed inside the chassis. The power shaft of the servo motor is located on the left side of the servo motor and is horizontally arranged in the left-right direction. The power shaft of the servo motor passes through the left side plate of the chassis and is rotatably connected to the left side plate of the chassis. The lead screw is horizontally arranged in the left-right direction in the slot beam and is located in the middle of the two guide rails. The left end of the lead screw is rotatably installed on the rectangular end plate. The right end of the lead screw is coaxially connected to the left end of the power shaft of the servo motor through a coupling. The nut is sleeved on the lead screw and is threadedly connected to the lead screw. The front side of the nut is located between the two side plates of the double-ear plate support and is fixedly connected to the reinforcement plate. The cylinder sensor includes a contact travel switch, a guide sleeve, a guide rod and a trigger sheet. The contact travel switch is fixedly installed on the middle of the top surface of the rectangular box seat by fasteners. A convex plate is integrally formed on the upper side of the outer circumference of the annular flange plate. The guide sleeve is horizontally fixedly installed on the left side of the convex plate along the left and right directions. The guide rod horizontally penetrates the guide sleeve and the convex plate along the left and right directions. The guide rod is slidably connected with the guide sleeve and the convex plate. The right end of the guide rod is located above the right side of the right side of the electromagnetic chuck. A stopper is arranged on the right end of the guide rod. The lower side of the stopper is located on the right side of the upper side of the right side of the electromagnetic chuck. The guide rod is sleeved with a pressure spring pressed between a stopper and a convex plate, and the left end of the guide rod extends to the left from the left end of the guide sleeve, the trigger piece is tilted with the left side lower and the right side higher, the lower side of the trigger piece is hinged to the bottom of the right side surface of the shell of the contact travel switch and its hinge axis is horizontally arranged along the front and rear direction, the upper side of the trigger piece is fixedly connected with a clamping plate fastened on the left end part of the guide rod, and the lower side of the right side surface of the shell of the contact travel switch is provided with a sensor probe located on the left side of the lower side of the trigger piece and adapted to the trigger piece, and the servo control system is connected to the contact travel switch through a signal cable.

2. The control method for adaptive access of multiple types of steel cylinders according to claim 1 is characterized in that: The cylinder bracket includes two lifting plates, which are arranged at intervals on the left and right. The lifting plates are vertically arranged on the front side of the bottom of the channel steel support beam along the front-to-back direction. The lifting plates are in an arc-shaped hook structure, and the open side of the lifting plates faces upward. A cross bar is fixedly connected between the middle and front sides of the two lifting plates. A rib plate vertically arranged along the left and right direction is fixedly connected between the rear edge portions of the two lifting plates. The upper side of the rib plate is integrally formed with a horizontal fold fixedly connected to the front edge of the lower side of the lower side plate of the channel beam. The front and rear sides of the upper side of the lifting plate are both provided with recesses. The two supporting plates are fixedly connected with channel steel support rods between the front and rear sides of the upper sides, the left ends of the two channel steel support rods are respectively fixedly arranged in the two grooves on the left, and the right ends of the two channel steel support rods are respectively fixedly arranged in the two grooves on the right, the front channel steel support rod is transparent on the left and right and the open side is arranged toward the upper rear, the rear channel steel support rod is transparent on the left and right and the open side is arranged toward the upper front, a number of supporting rollers spaced apart on the left and right are rotatably installed in the grooves of the two channel steel support rods, and the upper sides of the supporting rollers protrude from the grooves of the channel steel support rods.

3. The control method for adaptive access of multiple types of steel cylinders according to claim 2, characterized in that: Cable drag chains are arranged on the left side of the top surface of the rectangular box seat and the upper side surface of the upper side plate of the trough beam, and each signal cable is arranged in the cable drag chain.

4. The control method for adaptive access of multiple types of steel cylinders according to claim 3 is characterized in that: In cylinder storage mode: Step (1) specifically includes: the steel cylinders to be stored are placed on each steel cylinder bracket in advance, the suction mechanism is in the initial position, the test piece is in contact with the initial position switch, the servo control system controls the electromagnetic suction cup to be energized and magnetized, the electromagnetic suction cup sucks the bottom of the steel cylinder, the bottom of the steel cylinder presses the block, so that the right end of the guide rod is aligned with the right side of the electromagnetic suction cup, the block compresses the pressing spring, the left end of the guide rod presses the trigger piece, the trigger piece is pressed and contacted with the sensor probe, the sensor probe transmits the pressure signal to the contact travel switch, the contact travel switch sends a signal to the servo control system, indicating that the steel cylinder sensor senses the steel cylinder, the stacker moves under the control of the servo control system and transports the steel cylinder to the shelf cargo position, the rightmost steel cylinder bracket is aligned with the left end of the cargo position; Step (2) is specifically as follows: the servo control system controls the servo motor to start, the power shaft of the servo motor drives the lead screw to rotate, the lead screw drives the nut to move to the right, the nut drives the rectangular box seat to move to the right through the double-ear plate support, the rectangular box seat drives the electromagnetic suction cup to move to the right to the cylinder placement position, the test piece moves to the cylinder placement position switch and contacts the cylinder placement position switch, the servo control system receives the cylinder placement position switch signal to control the servo motor to stop, and the electromagnetic suction cup pushes the cylinder into the cargo position; Step (3) is specifically as follows: the servo control system controls the electromagnetic suction cup to be powered off and demagnetized, regardless of whether the cylinder slides toward the inside of the cargo space, and then the servo control system controls the servo motor to rotate in the opposite direction. The servo motor drives the nut to move to the initial position through the lead screw, so that the rectangular box seat drives the electromagnetic suction cup to return to the initial position, and the test piece returns to the initial position switch and contacts the initial position switch. The servo control system receives the initial position switch signal to control the servo motor to stop, thereby completing the cylinder storage work.

5. The control method for adaptive access of multiple types of steel cylinders according to claim 3 is characterized in that: In cylinder mode: Step (ii) is specifically as follows: the servo control system controls the electromagnetic chuck to be energized and magnetized, and controls the servo motor to start, and the servo motor drives the rectangular box seat to move from the initial position to the cylinder placement position through the lead screw and the nut, and then the rectangular box seat drives the electromagnetic chuck to move rightward to the cylinder placement position, and the test piece moves to the cylinder placement position switch and contacts the cylinder placement position switch, and the servo control system receives the cylinder placement position switch signal to control the servo motor to stop; Step (iii) is specifically as follows: under normal circumstances, the steel cylinder is of standard length and has not slid toward the inside of the cargo space. Then, when the electromagnetic suction cup moves to the right to the steel cylinder placement position, the block presses against the bottom of the steel cylinder, causing the guide rod to move to the left relative to the guide sleeve until the right end of the guide rod is aligned with the right side of the electromagnetic suction cup. The block compresses the pressure spring, and the left end of the guide rod presses against the trigger plate. The trigger plate is pressed against the sensor probe, and the sensor probe transmits a pressure signal to the contact travel switch. The contact travel switch sends a signal to the servo control system, indicating that the steel cylinder sensor senses the steel cylinder, and the electromagnetic suction cup sucks the bottom of the steel cylinder. Then, the servo control system controls the servo motor to rotate in the opposite direction. The servo motor drives the nut to move to the initial position through the lead screw, so that the rectangular box seat drives the electromagnetic suction cup to return to the initial position. The electromagnetic suction cup draws the steel cylinder to each steel cylinder bracket, and the test piece returns to the initial position switch and contacts the initial position switch. The servo control system receives the initial position switch signal to control the servo motor to stop, completing the steel cylinder removal work. Step (iv) is specifically as follows: when the cylinder is abnormally short of the standard length and slides toward the inside of the cargo space, when the electromagnetic suction cup moves to the right to the cylinder placement position, the trigger plate does not come into tight contact with the sensor probe, the cylinder sensor cannot sense the cylinder, and the servo control system controls the servo motor to switch to the torque mode, and the servo motor drives the suction mechanism to continue to move toward the cylinder in the cargo space; The maximum value of the set distance value in step (vi) is the distance between the cylinder placement position switch and the limit position switch.

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