An automated system for a stationary bar stock warehouse

Abstract

The present invention belongs to the technical field of automated equipment, and discloses an automated system for a fixed bar stock warehouse, which includes a fixed shelf (12), an automated forklift (11) and a bar stock component outbound station (4) located in the fixed bar stock warehouse; the system further includes an automatic bar upper part removal device and an automatic bar upper part installation device, which are respectively used for removing the existing parts above the bar stock and reinstalling pre-selected other parts on the bar stock from which the upper parts have been removed. By improving each component in the system and their working modes, the present invention can realize the automated processes of bar stock handling and component assembly, and can further preferably achieve automatic detection and automatic installation, with a high degree of automation, a significant improvement in work efficiency, and a reduction in the uncertainty caused by human factors in bar stock handling throughout the process.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated equipment. More specifically, it relates to an automated system for a fixed bar stock warehouse, which can be used to achieve the handling of bar stock, the welding and installation of components, and the installation of the whole unit. Background Art

[0002] Due to technical limitations and safety considerations, at the present stage, the handling, component assembly, inspection, and installation of bar stock are all carried out in an artificial-assisted manner, which seriously reduces production efficiency. Taking nuclear fusion fuel rods as an example, the height of the bar stock material is generally 1 - 2m, and the total weight of a single rod is generally 50 - 200kg. To ensure quality, the inner core of the bar stock assembly of existing nuclear fusion fuel rods is often manually removed from the outer shell, inspected, and assembled. In other scenarios, such as electroplating, bar stock is also often used.

[0003] Therefore, there is an urgent need for a technical process that can replace manual labor to effectively improve production efficiency while ensuring safety. Summary of the Invention

[0004] Aiming at the above-mentioned defects or improvement requirements of the prior art, the purpose of the present invention is to provide an automated system for a fixed bar stock warehouse. By improving the components in the system and their working methods, it can achieve the automated processes of bar stock handling and component assembly, and can further preferably achieve automatic detection and automatic installation. It has a high degree of automation, can greatly improve work efficiency, and can reduce the uncertainty caused by human factors in bar stock handling throughout the process.

[0005] To achieve the above purpose, according to the present invention, an automated system for a fixed bar stock warehouse is provided, which is characterized by including a fixed shelf (12), an automatic forklift (11), and a bar stock component outbound station (4) located in the fixed bar stock warehouse. Among them, the fixed shelf (12) is used to fixedly place bar stock; the automatic forklift (11) is used to move bar stock;

[0006] The system further includes an automatic removal device for upper components of the bar stock and an automatic installation device for upper components of the bar stock, which are respectively used to remove the existing components above the bar stock and to reinstall pre-selected other components on the bar stock from which the upper components have been removed; the bar stock component outbound station (4) is used to provide the components required for bar stock assembly.

[0007] As a further preference of the present invention, the fixing unit of any bar stock on the fixed shelf (12) includes a load-bearing locking hook (122) and a base (124). Among them, the base (124) is used to place the bar stock, and the load-bearing locking hook (122) is used to lock the bar stock and the fixed shelf (12) together;

[0008] The automatic forklift (11) is provided with clamping jaws (114), and the clamping jaws (114) can act on the load-bearing locking hook (122) to realize the switching between the locked state and the relaxed state of the load-bearing locking hook (122).

[0009] As a further preference of the present invention, the automatic forklift (11) is provided with sensors for real-time positioning; the automatic forklift (11) also has an automatic navigation component, which can enable the automatic forklift (11) to move along a pre-set path.

[0010] As a further preference of the present invention, the system further includes an intelligent inspection station, which includes a base (21) and intelligent detection equipment (22). Among them, the base (21) is used to place the bar stock to be detected, and the intelligent detection equipment (22) is used to detect the bar stock based on a computer vision solution.

[0011] As a further preference of the present invention, the bar stock fixedly placed in the fixed shelf (12) is connected to the fixed shelf (12) through a warehouse suspension mechanism (123) on the upper part of the bar stock;

[0012] The upper part component automatic removal device of the bar stock is used to remove the warehouse suspension mechanism (123) on the upper part of the bar stock directly removed from the fixed shelf (12).

[0013] As a further preference of the present invention, the upper part component automatic installation device of the bar stock includes an automatic hoisting station (8), and the automatic hoisting station (8) includes a hoisting mechanism installation robot (31), which is used to install a suspension mechanism matching device (314) on the upper part of the bar stock from which the upper part components have been removed, and use the suspension mechanism matching device (314) to disassemble the bar stock, so that the bar stock component inner core (1212) is drawn out from the bar stock component outer shell (1211);

[0014] Preferably, the bar stock from which the upper part components have been removed is specifically the bar stock from which the warehouse suspension mechanism (123) has been removed.

[0015] As a further preference of the present invention, the automatic installation device for the upper part of the bar stock further includes a welding station (5) for the bar stock assembly. The welding station (5) for the bar stock assembly includes a welding robot (51) and a ground closing mechanism (52). A welding device (511) is provided at the end of the welding robot (51); the ground closing mechanism (52) is used to enclose and place the inner core (1212) of the bar stock assembly to prevent welding slag from falling onto the inner core (1212) of the bar stock assembly during the welding process; the ground closing mechanism (52) includes a closing mechanism base (521) and a moving part (522) of the closing mechanism that cooperate with each other to achieve opening or closing; the welding robot (51) can close the moving part (522) of the closing mechanism to achieve closing.

[0016] Through the welding device (511) in the welding station (5) for the bar stock assembly, the threaded joint (44) and the detachable joint (45) can be installed and welded on the inner core (1212) of the bar stock assembly.

[0017] As a further preference of the present invention, the welding station (5) for the bar stock assembly further includes an AGV cart for moving the required threaded joint (44) and detachable joint (45) to the target position.

[0018] As a further preference of the present invention, the automatic installation device for the upper part of the bar stock is further used to install the control rod (63) on the inner core (1212) of the bar stock assembly on which the threaded joint (44) and the detachable joint (45) have been installed;

[0019] The inner core (1212) of the bar stock assembly on which the control rod (63) has been installed can be moved out of the ground closing mechanism (52) by the hoisting mechanism installation robot (31), and the inner core (1212) of the bar stock assembly is placed back into the bar stock assembly housing (1211).

[0020] As a further preference of the present invention, the system further includes an XYZ platform; the XYZ platform has an end suspension mechanism that can move in the X direction, Y direction, and Z direction; the end suspension mechanism is used to connect to the control rod (63) and can move the bar stock assembly (121) three-dimensionally and finally place it into the pit (9).

[0021] An intelligent detection station (7) is provided near the XYZ platform for detecting the bar stock assembly (121) on the XYZ platform.

[0022] Preferably, the intelligent detection station (7) includes a laser theodolite (71) for detecting the verticality and straightness of the bar stock assembly (121).

[0023] Through the above technical solution conceived by the present invention, compared with the prior art, the present invention utilizes an automated system with specific workstations and detailed device and component settings, and through the overall cooperation of each component, it can realize automated processes such as bar material handling and component assembly.

[0024] For a fixed bar material warehouse, in order to ensure the safety of storage, the bar materials placed on the shelves often need to be suspended on the shelves by means of a warehouse suspension mechanism; however, when subsequent bar materials are involved, manual operations such as bar material transfer, welding, installation, and inspection are often required. The present invention can automatically remove and install the components above the stored bar materials by setting an automatic bar material upper component removal device (such as a warehouse suspension mechanism removal function device), an automatic bar material upper component installation device (such as an automated lifting workstation, a bar material component welding and assembly workstation, etc.), which is very convenient for the calling of stored bar materials.

[0025] Based on the automated system of the present invention, it can realize automatic handling, welding, inspection, and installation of the bar material production line. Compared with the previous process flow that required a large amount of manual assistance, the present invention can greatly save manual operations and avoid accidents caused by human factors; secondly, the automated system realizes the standardization and automation of bar material part assembly and welding through industrial robotic arms, AGVs, and automatic forklifts; further, the measurement of parameters such as part category, quantity, form and position tolerance, and surface quality can be realized through intelligent sensing technology, computer vision technology, and neural network technology; and the digitalization of bar material part quantity and quality management can be realized through fieldbus technology and digital twin technology.

[0026] In summary, the present invention provides a complete set of automated processes for bar material transportation, processing, and installation, with a high degree of automation, which can greatly improve the engineering efficiency and safety of bar material supporting process flows. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the overall effect of the automated system for a fixed bar material warehouse in an embodiment of the present invention.

[0028] Figure 2 is a schematic diagram of a fixed bar material warehouse.

[0029] Figure 3 is a schematic diagram of an automatic forklift.

[0030] Figure 4 is a schematic diagram of an XYZ platform structure.

[0031] Figure 5 is a schematic diagram of an automatic forklift going to a fixed warehouse to pick up bar material components.

[0032] Figure 6 is a schematic diagram of an automatic forklift placing bar material components.

[0033] Figure 7 It is a schematic diagram of the detection of the bar component based on the vision solution.

[0034] Figure 8 It is a schematic diagram of the removal of the bar component suspension device.

[0035] Figure 9 It is a schematic diagram of the installation of the lifting mechanism of the industrial robot.

[0036] Figure 10 It is a schematic diagram of using the industrial robot to extract the bar component through the lifting equipment.

[0037] Figure 11 It is a schematic diagram of the industrial robot and the AGV cart carrying the component.

[0038] Figure 12 It is a schematic diagram of the industrial robot placing the bar component at the welding station.

[0039] Figure 13 It is a schematic diagram of the installation and welding adjustment of the threaded joint by the industrial robot.

[0040] Figure 14 It is a schematic diagram of the installation of the detachable joint by the industrial robot.

[0041] Figure 15 It is a schematic diagram of the installation of the control rod component by the industrial robot.

[0042] Figure 16 It is a schematic diagram of the industrial robot taking out the bar component.

[0043] Figure 17 It is a schematic diagram of the industrial robot placing the bar component back into the housing.

[0044] Figure 18 It is a schematic diagram of the installation of the lifting tool using the XYZ platform.

[0045] Figure 19 It is a schematic diagram of using the intelligent detection equipment to inspect the bar component.

[0046] Figure 20 It is a schematic diagram of the installation of the bar component on the XYZ platform.

[0047] Figure 21 It is a schematic diagram of the inspection of the bar component.

[0048] The meanings of the reference numerals in the figure are as follows:

[0049] 1 - Automated fixed bar storage warehouse; 2 - Handling station for bar components; 3 - Intelligent inspection and warehouse suspension mechanism removal station; 4 - Bar component outbound station; 5 - Bar component welding station; 6 - Control rod component installation station; 7 - Intelligent detection station; 8 - Automated lifting station; 9 - Pit;

[0050] 12 - Fixed shelf; 121 - Bar component; 122 - Load-bearing locking hook; 123 - Warehouse suspension mechanism; 124 - Base; 125 - Warehouse main body;

[0051] 11 - Automated forklift; 111 - Automated forklift main body; 112 - First-level lifting platform (for up and down movement); 113 - Second-level lifting platform (for front and back movement); 114 - Claw;

[0052] 641 - XYZ platform main body; 642 - X-direction moving slider; 643 - Y-direction moving slider; 644 - First-level Z-direction moving slider; 645 - Second-level Z-direction moving slider; 646 - Third-level Z-direction moving slider;

[0053] 21 - Base; 22 - Intelligent detection equipment;

[0054] 31: Robot (i.e., hoisting mechanism installation robot);

[0055] 311 - End suspension mechanism; 312 - Air clamp; 313 - End quick-change mechanism; 314 - Suspension mechanism supporting device; 1211 - Bar component housing; 1212 - Bar component inner core;

[0056] 41 - Robot (i.e., component outbound robot); 42 - Outbound station; 43 - AGV cart; 44 - Threaded joint; 45 - Removable joint;

[0057] 51 - Robot (i.e., welding robot); 511 - Welding device; 512 - Air clamp; 513 - End quick-change mechanism; 52 - Ground closing mechanism; 521 - Closing mechanism base; 522 - Closing mechanism moving part;

[0058] 61 - Control component hook; 62 - Control component housing; 63 - Control rod; 64 - XYZ platform;

[0059] 71 - Laser theodolite;

[0060] 81 - Suspended basket;

[0061] 91 - Intelligent detection equipment. Detailed implementation mode

[0062] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] Based on the automated system for a fixed bar stock warehouse in the present invention, during actual application, it can be as Figure 1 shown, an automated fixed bar stock shelf warehouse 1, a bar stock component handling station 2, an intelligent inspection and warehouse suspension mechanism removal station 3, a bar stock component outbound station 4, a bar stock component welding station 5, a control rod component installation station 6, an intelligent inspection station 7, an automated hoisting station 8, and a pit 9 are set up.

[0064] For example, an automatic forklift can be used to go to the fixed warehouse where the bar stock is suspended, and the bar stock fixed on the shelf can be clamped by the jaws at the end of the forklift. Subsequently, the forklift forks the bar stock to the inspection station for inspection. After the component is inspected and qualified, the bar stock component is extracted from the housing by a robotic arm and placed in the welding station. The detachable joint and the threaded joint are taken out of the warehouse by an industrial robot and placed on an AGV cart, and the AGV cart moves the detachable joint and the threaded joint to the welding station. In the welding station, the detachable joint and the threaded joint are installed on the bar stock component and corresponding welding is performed. After welding is completed, the bar stock component is taken out and moved to the XYZ platform by an industrial robot. After straightness inspection, it is placed in the pit by the XYZ platform.

[0065] Specifically:

[0066] Referring to Figure 2 、 Figure 3 and Figure 5 , an automatic forklift 11 is used in cooperation with a load-bearing locking hook 122 and a jaw device 114 to handle the bar stock component 121 beside the fixed shelf 12. The jaws 114 clamp the bar stock component 121 through a relevant clamping mechanism, so that the automatic forklift 11 can handle the bar stock component 121.

[0067] Subsequently, referring to Figure 6 , the automatic forklift 11 clamps the bar stock component 121 and moves it to the intelligent inspection and warehouse suspension mechanism removal station 3 in a real-time positioning and automatic navigation manner through sensors, and slowly places the bar stock component 121 on the base 21 through a guiding mechanism and sensor positioning.

[0068] Referring to Figure 7The bar stock assembly 121 is slightly lifted by the automatic forklift 11, and the intelligent detection device 22 is used to detect information such as the relevant number and quality of the bar stock assembly 121. The relevant information is transmitted to the controller via the fieldbus to display and record the relevant data information in real time. After the inspectors in the monitoring room determine that the information is correct, they complete the inspection work and issue the next command through the controller to make the system continue to work.

[0069] Refer to Figure 8 The robot 31 adjusts the rotating disk so that the hook claws retract, thereby separating the warehouse suspension mechanism 123 from the bar stock assembly 121.

[0070] Refer to Figure 9 After that, the robot 31 installs the suspension mechanism supporting device 314 on the bar stock assembly 121.

[0071] Refer to Figure 10 The inner core 1212 of the bar stock assembly is extracted from the outer shell 1211 of the bar stock assembly by the robot 31 and the suspension mechanism supporting device 314.

[0072] Meanwhile, refer to Figure 11 , the robot 41 places the threaded joint 44 and the detachable joint 45 at the preset positions on the AGV cart 43 from the outbound station 42, and identifies the type and quality of the parts through computer vision technology. The relevant data is transmitted to the monitoring room via the fieldbus for the use of inspectors. After the relevant personnel confirm that it is correct, the AGV cart 43 transports the threaded joint 44 and the detachable joint 45 to the preset positions in the bar stock assembly welding station 5 through the preset trajectory and related automatic positioning technology.

[0073] Refer to Figure 12 , the robot 31 places the inner core 1212 of the bar stock assembly into the ground closing mechanism 52, and the robot 51 closes the moving part 522 of the closing mechanism to prevent the drop of welding slag during the subsequent welding process (and since the outer shell 1211 of the bar stock assembly has been separated from the inner core 1212 of the bar stock assembly, it also avoids the drop of welding slag into the outer shell).

[0074] Refer to Figure 13 , the robot 51 installs and welds the threaded joint 44 on the inner core 1212 of the bar stock assembly.

[0075] On the Figure 14 basis, the robot 51 installs the detachable joint 45 on the inner core 1212 of the bar stock assembly.

[0076] Continue on the Figure 15 basis, the robot 51 installs the control rod 63 on the inner core 1212 of the bar stock assembly.

[0077] Refer toFigure 16 , the robot 31 is used to take out the inner core 1212 of the bar stock assembly from the ground closing mechanism 52.

[0078] Refer to Figure 17 , the robot 31 is used to put the inner core 1212 of the bar stock assembly back into the bar stock assembly housing 1211 located in the base 21.

[0079] Refer to Figure 18 , then the XYZ platform 64 is used to install the control rod assembly (such as the control assembly hook 61 and the control assembly housing 62) at the control rod assembly installation station 6.

[0080] Refer to Figure 19 , after the control rod assembly 61 is installed in place, the bar stock assembly 121 is transported by the XYZ platform 64. During the transportation, a laser theodolite 71 etc. are used to check whether the plumbness and straightness of the bar stock assembly 121 in the two directions of 0° - 180° and 90° - 270° meet the requirements.

[0081] Refer to Figure 20 , after the bar stock assembly is inspected, the XYZ platform 64 places the bar stock assembly at the designated position, and the XYZ platform 64 is used to install the bar stock assembly into the hanging basket 81 (this hanging basket 81 is pre-placed in the pit 9). Considering the long Z-direction travel, a three-stage Z-direction moving slider is adopted to facilitate the long-distance movement in the Z direction.

[0082] Refer to Figure 21 , a smart detection device is used to check the installation position of the bar stock assembly in the hanging basket 81. After the inspection is correct, the hanging basket 81 is transported away.

[0083] The above embodiments take the nuclear fusion fuel rod as an example. Correspondingly, when using the nuclear fusion fuel rod, a control rod needs to be set. The automation system of the present invention is also applicable to other bar stock assemblies. At this time, the control rod can be adjusted to other components according to the actual situation (for example, for the bar stock used in electroplating, electrodes need to be assembled).

[0084] It is easy for those skilled in the art to understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated system for a fixed bar stock warehouse, characterized in that, It includes a fixed shelf (12), an automatic forklift (11) and a bar component outbound station (4) located in a fixed bar warehouse. Among them, the fixed shelf (12) is used for fixedly placing bars; the automatic forklift (11) is used for moving bars; The system further includes an automatic bar upper component removal device and an automatic bar upper component installation device, which are respectively used for removing the existing components above the bar and reinstalling other pre-selected components on the bar after the upper components have been removed; the bar component outbound station (4) is used to provide the components required for bar assembly; The automatic bar upper component installation device includes an automated hoisting station (8), and this automated hoisting station (8) includes a hoisting mechanism installation robot (31), which is used to install a suspension mechanism matching device (314) on the upper part of the bar after the upper components have been removed, and use the suspension mechanism matching device (314) to disassemble the bar, so that the bar component inner core (1212) is drawn out from the bar component outer shell (1211); The automatic bar upper component installation device further includes a bar component welding station (5), and this bar component welding station (5) includes a welding robot (51) and a ground closing mechanism (52). A welding device (511) is provided at the end of the welding robot (51); the ground closing mechanism (52) is used to enclose and place the bar component inner core (1212) to prevent welding slag from falling onto the bar component inner core (1212) during the welding process; the ground closing mechanism (52) includes a closing mechanism base (521) and a closing mechanism moving part (522) that cooperate with each other to achieve opening or closing; the welding robot (51) can close the closing mechanism moving part (522) to achieve closing; Through the welding device (511) in the bar component welding station (5), a threaded joint (44) and a detachable joint (45) can be installed and welded on the bar component inner core (1212).

2. The automated system for a fixed bar stock warehouse according to claim 1, characterized in that, The fixing unit of any bar on the fixed shelf (12) includes a load-bearing locking hook (122) and a base (124). Among them, the base (124) is used to place the bar, and the load-bearing locking hook (122) is used to lock the bar and the fixed shelf (12) together; The automatic forklift (11) is provided with a clamp (114), and the clamp (114) can act on the load-bearing locking hook (122) to switch the load-bearing locking hook (122) between the locked and relaxed states.

3. The automated system for a fixed bar stock warehouse according to claim 1, characterized in that, The automatic forklift (11) is provided with sensors and can perform real-time positioning; the automatic forklift (11) also has an automatic navigation component, which can make the automatic forklift (11) move along a pre-set path.

4. The automated system for a stationary bar stock warehouse according to claim 1, characterized in that, The system further includes an intelligent inspection station, and this intelligent inspection station includes a base (21) and intelligent detection equipment (22). Among them, the base (21) is used to place the bar to be inspected, and the intelligent detection equipment (22) is used to detect the bar based on a computer vision solution.

5. The automated system for a fixed bar stock warehouse according to claim 1, characterized in that, The bar stock fixedly placed in the fixed shelf (12) is connected to the fixed shelf (12) through the warehouse suspension mechanism (123) on the upper part of the bar stock; The upper part component automatic removal device of the bar stock is used to remove the warehouse suspension mechanism (123) on the upper part of the bar stock directly removed from the fixed shelf (12).

6. The automated system for a fixed bar stock warehouse according to claim 1, characterized in that, The bar stock with the upper part component removed specifically refers to the bar stock with the warehouse suspension mechanism (123) removed.

7. The automated system for a stationary bar stock warehouse according to claim 1, characterized in that, The bar stock assembly welding station (5) further includes an AGV cart, which is used to move the required threaded joints (44) and detachable joints (45) to the target positions.

8. The automated system for a fixed bar stock warehouse according to claim 1, characterized in that, The upper part component automatic installation device of the bar stock is also used to install the control rod (63) on the inner core (1212) of the bar stock assembly with the threaded joint (44) and the detachable joint (45) already installed; The inner core (1212) of the bar stock assembly with the control rod (63) installed can be removed from the ground closing mechanism (52) by the hoisting mechanism installation robot (31), and the inner core (1212) of the bar stock assembly is placed back into the bar stock assembly housing (1211).

9. The automated system for a fixed bar stock warehouse according to claim 8, characterized in that, The system further includes an XYZ platform; the XYZ platform has an end suspension mechanism, which can move in the X direction, Y direction and Z direction; the end suspension mechanism is used to connect to the control rod (63), and can make the bar stock assembly (121) move three-dimensionally and finally be placed into the pit (9); An intelligent detection station (7) is arranged near the XYZ platform, which is used to detect the bar stock assembly (121) on the XYZ platform.

10. The automated system for a fixed bar stock warehouse according to claim 9, characterized in that, The intelligent detection station (7) includes a laser theodolite (71), which is used to detect the verticality and straightness of the bar stock assembly (121).

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