Automatic warehousing system suitable for steel pipe raw materials and bars and working method of automatic warehousing system

Abstract

According to the automatic warehousing system suitable for the steel pipe raw material bars and the working method of the automatic warehousing system, the automation degree is high, the storage amount is large, the warehouse-in and warehouse-out efficiency is high, and warehouse-out of a single bar and a whole row of bars can be achieved at the same time. The rotating platform is mounted on the moving mechanism; the butt joint roller way is mounted on the rotating platform; the aligning roller way, the plurality of conveying roller ways and the single conveying roller way are all mounted on the mounting frame; a lifting rack mechanism is arranged between the aligning roller way and the conveying roller ways; the rack is mounted on the mounting frame, the front end of the rack is connected with the aligning roller way, and the rear end of the rack is connected with the conveying roller ways; the rack driving mechanism is mounted on the mounting frame and is connected with the rack; the plate turnover mechanism is mounted on the mounting frame; the turning plate driving mechanism is mounted on the mounting frame; the turning plate is mounted on the mounting frame, and the turning plate driving mechanism is connected with the turning plate; a plate turning mechanism is arranged between the feeding frame and the aligning roller way. And a plate turnover mechanism is also arranged between the plurality of conveying roller ways and the single conveying roller way.

Description

Technical Field

[0001] The invention relates to an automatic storage system suitable for steel pipe raw material bars and a working method thereof. Background Art

[0002] In the steel pipe industry, how to simply, efficiently and automatically store the raw material bars of steel pipes is a hot issue. The traditional storage method is to manually sort out a certain number and specification of bars and manually operate a crane to lift them to the ground pile or shelf for storage. The manual storage and retrieval method greatly increases labor costs, and there are also problems such as low storage and retrieval efficiency, low storage space utilization, and inconvenience in material management.

[0003] The Chinese patent with the patent number of 201911015273.2 discloses an automated stereoscopic warehouse and warehousing and retrieval method for pipes, including shelves, material frames for storing pipes, material frame conveying trolleys, lifting mechanisms, walking mechanisms, and storage and retrieval mechanisms. The material frames and material frame conveying trolleys are matched to realize the peripheral transportation of pipes, transport the pipes to the designated storage location for warehousing, and send the material frames to the warehouse exit for warehousing. The walking mechanism is responsible for realizing the horizontal movement of the platform itself on the shelf, and the lifting mechanism realizes the vertical lifting movement of the storage and retrieval mechanism through the winch; the storage and retrieval mechanism is responsible for holding the material frame, placing the pipes at the designated shelf position or taking them out from the designated position, and realizing the warehousing and retrieval operation of the pipes. Although this patent scheme realizes the automated storage of long and heavy steel pipes, it can only realize the warehousing of a whole row of bars, and cannot realize the warehousing of a single bar and a whole row of bars at the same time. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide an automatic storage system and a working method thereof which are reasonably designed for steel pipe raw material bars and have a high degree of automation, a large storage capacity, a high efficiency in warehousing and out-of-warehouse, and can simultaneously realize the out-of-warehouse of single bars and entire rows of bars.

[0005] The technical solution adopted by the present invention to solve the above-mentioned problems is: an automatic storage system suitable for steel pipe raw material bars, including a three-dimensional warehouse, in which a manipulator, a shelf and a conveying roller inside the warehouse are arranged; the characteristic is that it also includes a rotating docking mechanism and a bar material sorting mechanism outside the warehouse; the rotating docking mechanism is arranged between the conveying roller inside the warehouse and the bar material sorting mechanism outside the warehouse, and includes a moving mechanism, a docking roller and a rotating platform; the rotating platform is installed on the moving mechanism; the docking roller is installed on the rotating platform; the bar material sorting mechanism outside the warehouse includes a loading rack, a flip mechanism, an alignment roller, a lifting platform mechanism, multiple conveying rollers, a single conveying roller and a mounting rack; the loading rack is fixed on the mounting rack, and the loading rack is inclined with a high front end and a low rear end; the alignment roller is installed on the mounting rack; the multiple conveying rollers and the single conveying roller are both installed on the mounting rack; a lifting platform is arranged between the alignment roller and the multiple conveying rollers The platform mechanism, the lifting platform mechanism includes a platform and a platform driving mechanism; the platform is installed on the mounting frame in a lifting manner, the platform is in an inclined shape with a high front end and a low rear end, the front end of the platform is connected to the alignment roller, and the rear end is connected to multiple conveying rollers; the platform driving mechanism is installed on the mounting frame, and the platform driving mechanism is connected to the platform; the flap mechanism is installed on the mounting frame; the flap mechanism includes a flap and a flap driving mechanism; the flap driving mechanism is installed on the mounting frame; the flap is rotatably installed on the mounting frame, and the flap is in an inclined shape with a high front end and a low rear end; the flap driving mechanism is connected to the flap; the flap mechanism is arranged between the loading frame and the alignment roller, the front end of the flap is connected to the rear end of the loading frame, and the rear end of the flap is connected to the alignment roller; the flap mechanism is also arranged between the multiple conveying rollers and the single conveying roller, the front end of the flap is connected to the multiple conveying rollers, and the rear end of the flap is connected to the single conveying roller.

[0006] The shelf described in the present invention comprises a column, a cantilever and a protection block; the cantilever is fixed on the column and is used to place rods; the protection block is fixed on the column and is located above the cantilever.

[0007] The manipulator described in the present invention includes a truss, a material fork, a hanging beam, a guide column and a winch; the truss is slidably installed on the stereoscopic warehouse; the guide column is fixedly installed on the truss; the winch is installed on the truss; the hanging beam is lifted and installed on the guide column, and the winch is connected to the hanging beam; the material fork is installed on the hanging beam.

[0008] The butt joint roller conveyor of the present invention comprises a butt joint flat roller conveyor and a butt joint V-shaped roller conveyor, and the butt joint flat roller conveyor and the butt joint V-shaped roller conveyor are arranged side by side.

[0009] The mobile mechanism of the present invention adopts an RGV trolley.

[0010] The flap driving mechanism and the platform driving mechanism described in the present invention both adopt oil cylinders.

[0011] The flap driving mechanism and the platform driving mechanism described in the present invention both adopt oil cylinders.

[0012] The lifting platform mechanism of the present invention further comprises a connecting rod, and the platform driving mechanism is connected to the platform via the connecting rod.

[0013] The flap mechanism of the present invention further comprises a bearing seat, the bearing seat is mounted on the mounting frame, and the flap is rotatably mounted on the bearing seat.

[0014] A working method for an automatic storage system for raw steel pipe bars, characterized in that it includes a storage process, a whole row of bars out of storage process and a single bar out of storage process: (1) Warehousing process: (11) After a bundle of bars is hoisted to the loading rack, the tilt of the loading rack causes the bars to roll to the rear end of the rack under the action of gravity; (12) A flap mechanism is arranged between the loading rack and the alignment roller, the flap driving mechanism drives the flap to flip upward, the front end of the flap lifts up the bar material on the rear end of the loading rack, and the tilt of the flap causes the bar material to roll toward the rear end of the flap under the action of gravity; the flap driving mechanism drives the flap to flip downward, and places the bar material on the rear end of the flap on the alignment roller; (13) The bars are aligned on the alignment rollers; (14) The platform driving mechanism drives the platform to rise, and the front end of the platform lifts up the bar material on the alignment roller. The tilt of the platform makes the bar material roll to the rear end of the platform under the action of gravity; the platform driving mechanism drives the platform to descend, and places the bar material on the rear end of the platform on multiple conveyor rollers; (15) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with multiple conveyor rollers. The multiple conveyor rollers transport the bar materials to the docking rollers; The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The docking roller conveys the bar material to the conveying roller in the warehouse; (16) The robot takes out the bars from the conveyor roller in the warehouse and stores them on the shelf; (2) The whole row of bar stock out of the warehouse process: (21) The robot moves to the shelf at the corresponding storage location, takes out the entire row of bars on the shelf and places the entire row of bars on the conveyor roller in the warehouse; (22) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse transports the entire row of bars to the docking roller, and the entire row of bars is shipped out of the warehouse; (3) Single bar outbound process: (31) The robot moves to the shelf at the corresponding storage location, takes out the entire row of bars on the shelf and places the entire row of bars on the conveyor roller in the warehouse; (32) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse transports the entire row of bars to the docking roller; (33) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with multiple conveying rollers and a single conveying roller; the docking roller conveys the entire row of bars to the multiple conveying rollers; (34) A flap mechanism is arranged between the multiple conveying rollers and the single conveying roller, the flap driving mechanism drives the flap to flip upward, the front end of the flap lifts up the single bar material on the multiple conveying rollers, and the tilt of the flap causes the bar material to roll toward the rear end of the flap under the action of gravity; the flap driving mechanism drives the flap to flip downward, and the single bar material on the rear end of the flap is placed on the single conveying roller; (35) The single conveyor roller conveys the single bar material to the docking roller conveyor to realize the single bar material out of the warehouse.

[0015] Compared with the prior art, the present invention has the following advantages and effects: 1. The present invention designs a bar sorting mechanism outside the warehouse, so that the bars can be grouped and stored in a specified quantity, replacing the traditional manual lifting method, reducing labor intensity and improving work efficiency; 2. When leaving the warehouse, the whole row of bars can be left in a single row; at the same time, the whole row of bars can be separated into single bars in the bar sorting mechanism outside the warehouse. After cooperating with the rotating docking mechanism, the single bar can be left in a single row, which can be directly connected to the subsequent sawing production line for loading, greatly improving the automation of the production line; 3. The rotating docking mechanism can realize the automatic transfer of bars inside and outside the warehouse, reduce labor intensity and improve the efficiency of bar handling; the robot can realize the automatic entry and exit of bars; 4. The present invention has the advantages of high automation, large storage capacity, high efficiency in warehousing and out-of-warehouse, etc., and provides a feasible solution for how to automatically store bar materials in the steel pipe industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view structural schematic diagram of an embodiment of the present invention; Figure 2 It is a side view structural schematic diagram of an embodiment of the present invention; Figure 3 It is a schematic diagram of a top view of the structure of an embodiment of the present invention; Figure 4 It is a schematic diagram of the shaft side structure of an embodiment of the present invention; Figure 5This is a front view structural diagram of a shelf according to an embodiment of the present invention; Figure 6 It is a schematic diagram of the rotary docking mechanism and the top view structure of an embodiment of the present invention; Figure 7 For the embodiment of the present invention Figure 6 A schematic diagram of the top view of the docking roller of the central rotary docking mechanism after it rotates 90 degrees; Figure 8 It is a schematic diagram of the side view structure of the off-warehouse bar sorting mechanism according to an embodiment of the present invention; Fig. 9 It is a schematic diagram of the top view of the structure of the off-warehouse bar sorting mechanism according to an embodiment of the present invention; Fig.10 It is a schematic diagram of the axial structure of the off-warehouse bar sorting mechanism according to an embodiment of the present invention; Fig.11 This is a schematic diagram of the front view of the flap mechanism according to an embodiment of the present invention; Fig.12 It is a side structural schematic diagram of the flap mechanism according to an embodiment of the present invention; Fig.13 This is a schematic diagram of the main structure of the lifting platform mechanism according to an embodiment of the present invention; Fig.14 It is a side structural schematic diagram of the lifting platform mechanism according to an embodiment of the present invention; Fig.15 It is a schematic diagram of the axial structure of the lifting platform mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0018] The automatic storage system of the embodiment of the present invention includes a manipulator 1, a shelf 2, an in-warehouse conveyor roller 3, a rotary docking mechanism 4, an out-warehouse bar material sorting mechanism 5, a three-dimensional warehouse 26 and a basic platform 12.

[0019] 1. The three-dimensional warehouse 26 includes a warehouse frame 27, a track 28 and a ground track 29. The warehouse frame 27 is fixedly arranged on the basic platform 12, the track 28 is fixedly arranged on the warehouse frame 27, and the ground track 29 is fixedly arranged on the basic platform 12.

[0020] 2. The shelf 2 is arranged in the stereoscopic warehouse 26, and includes a column 13, a cantilever 14 and a protective block 15. The column 13 is fixed to the base platform 12 by bolts. The cantilever 14 is fixed to the column 13 by welding. The cantilever 14 is used to place the rods. The area on the cantilever 14 that contacts the rods is provided with a protective plate, and the material of the protective plate is ultra-high molecular polyethylene. The protective block 15 is fixed to the column 13 by bolts and is located above the cantilever 14. When the rod is placed on the cantilever 14, the rod may hit the column 13. At this time, the protective block 15 protects the impact part. The material of the protective block 15 is ultra-high molecular polyethylene.

[0021] 3. The manipulator 1 is arranged in a stereoscopic warehouse 26, which includes a truss, a material fork 8, a lifting beam 9, a guide column 10, a guide wheel 11 and a winch 30. The truss includes a main beam 6 and an end beam 7, the main beam 6 and the end beam 7 are connected and fixed by bolts, the end beam 7 is slidably mounted on the track 28, and the end beam 7 can move on the track 28, so that the truss is slidably mounted on the track 28, so that the manipulator 1 is slidably mounted on the warehouse frame 27. The guide column 10 is fixedly mounted on the main beam 6 of the truss, and a guide wheel 11 is installed at the bottom of the guide column 10, and the guide wheel 11 is slidably mounted on the ground rail 29, so that the guide column 10 is slidably mounted on the ground rail 29, and the guide column 10 plays a guiding role when the truss moves. The winch 30 is installed on the main beam 6 of the truss. The lifting beam 9 is installed on the guide column 10 in a lifting manner, and guide wheels are arranged at both ends of the lifting beam 9, and the guide wheels are connected to the guide rails of the guide column 10 to achieve stable lifting and lowering of the lifting beam 9. The hoist 30 is connected to the hanging beam 9 by a steel wire rope, and the hoist 30 drives the drum to realize the lifting of the hanging beam 9. The material fork 8 is installed on the hanging beam 9 by bolts. In this embodiment, the number of the material forks 8 is 6, and the material forks 8 can perform bidirectional material picking and each material fork 8 can be controlled separately.

[0022] Fourth, the internal conveying roller 3 is installed on the basic platform 12, and 1 is set in the three-dimensional warehouse 26. The internal conveying roller 3 cooperates with the manipulator 1 and the rotating docking mechanism.

[0023] 5. The rotary docking mechanism 4 is arranged between the conveying roller 3 in the warehouse and the bar material sorting mechanism 5 outside the warehouse, and includes a moving mechanism 16, a docking roller 17 and a rotating platform 31. The rotating platform 31 is installed on the moving mechanism 16, and the moving mechanism 16 drives the rotating platform 31 and the docking roller 17 to move to the corresponding position. The moving mechanism 16 adopts an RGV trolley; the docking roller 17 is installed on the rotating platform 31, and the rotating platform 31 drives the docking roller 17 to rotate horizontally; the docking roller 17 includes a docking flat roller 171 and a docking V-shaped roller 172, and the docking flat roller 171 and the docking V-shaped roller 172 are arranged side by side.

[0024] 6. The off-warehouse bar sorting mechanism 5 includes a loading rack 18, a flap mechanism 19, an alignment roller 20, a lifting platform mechanism 21, multiple conveying rollers 22, a single conveying roller 24 and a mounting frame 23.

[0025] The mounting frame 23 is fixed to the base platform 12 by means of bolts.

[0026] The flap mechanism 19 is mounted on the mounting frame 23. The flap mechanism 19 includes a flap 29, a bearing seat 30 and a flap driving mechanism 31. The bearing seat 30 and the flap driving mechanism 31 are both mounted on the mounting frame 23; the flap 29 is rotatably mounted on the bearing seat 30, so that the flap 29 is rotatably mounted on the mounting frame 23, and the flap 29 is in an inclined shape with a high front end and a low rear end; the flap driving mechanism 31 is connected to the flap 29 to drive the flap 29 to flip up and down. The flap driving mechanism 31 adopts an oil cylinder.

[0027] The loading rack 18 is fixed to the mounting rack 23 by bolts. The loading rack 18 is inclined with a high front end and a low rear end, and the inclination angle is 2 degrees.

[0028] The alignment roller 20 is installed on the mounting frame 23. The alignment roller 20 is used to convey the bar to a fixed position to achieve bar head alignment. In this embodiment, two photoelectric sensors are provided at the end of the alignment roller 20. During the bar conveying process, when the first photoelectric sensor detects the bar, the control system controls the alignment roller 20 to decelerate immediately, and the bar is slowly conveyed forward. When the second photoelectric sensor detects the bar, the control system controls the alignment roller 20 to stop moving, and the bar stops in place, thereby achieving bar head alignment. The alignment roller 20 can also use other existing methods to achieve bar alignment.

[0029] The above-mentioned flap mechanism 19 is arranged between the loading rack 18 and the alignment roller 20 , the front end of the flap 29 is connected to the rear end of the loading rack 18 , and the rear end of the flap 29 is connected to the alignment roller 20 .

[0030] The multiple conveying rollers 22 and the single conveying roller 24 are both mounted on the mounting frame 23. The docking flat roller conveyor 171 can dock with the multiple conveying rollers 22, and the docking V-shaped roller conveyor 172 can dock with the single conveying roller 24. In fact, when the docking flat roller conveyor 171 docks with the multiple conveying rollers 22, the docking V-shaped roller conveyor 172 also docks with the single conveying roller 24. It is only during the process of single bar material being shipped out of the warehouse that the docking V-shaped roller conveyor 172 and the single conveying roller 24 perform the action of conveying bar material.

[0031] A lifting platform mechanism 21 is provided between the alignment roller 20 and the plurality of conveying rollers 22, and the lifting platform mechanism 21 is mounted on the mounting frame 23. The lifting platform mechanism 21 includes a platform 32, a connecting rod 33, and a platform driving mechanism 34. The platform 32 is installed on the mounting frame 23 in a lifting manner, and the platform 32 is inclined with a high front end and a low rear end, and the inclination angle is 2 degrees. The front end of the platform 32 is connected to the alignment roller 20, and the rear end is connected to the plurality of conveying rollers 22. The platform driving mechanism 34 is installed on the mounting frame 23, and the platform driving mechanism 34 is connected to the platform 32 through the connecting rod 33, and drives the platform 32 to rise and fall. The platform driving mechanism 34 adopts an oil cylinder.

[0032] The above-mentioned flap mechanism 19 is also arranged between the multiple conveying rollers 22 and the single conveying roller 24 . The front end of the flap 29 is connected to the multiple conveying rollers 22 , and the rear end of the flap 29 is connected to the single conveying roller 24 .

[0033] VII. The working method of the embodiment of the present invention includes a storage process, a whole row of bar material storage process and a single bar material storage process: (1) Warehousing process: (11) After a bundle of bar materials is manually hoisted to the loading rack 18 by a crane, the tilt of the loading rack 18 causes the bar materials to roll to the rear end of the loading rack 18 under the action of gravity; (12) A flap mechanism 19 is arranged between the loading rack 18 and the alignment roller 20. The flap driving mechanism 31 drives the flap 29 to flip upward. The front end of the flap 29 lifts up a single bar material on the rear end of the loading rack 18. The tilt of the flap 29 causes the bar material to roll toward the rear end of the flap 29 under the action of gravity. The flap driving mechanism 31 drives the flap 29 to flip downward, and places the bar material on the rear end of the flap 29 on the alignment roller 20. (13) The bars are aligned on the alignment roller 20; (14) The stage drive mechanism 34 drives the stage 32 to rise, and the front end of the stage 32 lifts up the bar material on the alignment roller 20. The inclined shape of the stage 32 causes the bar material to roll toward the rear end of the stage 32 under the action of gravity. After the bar material is in place, the stage drive mechanism 34 drives the stage 32 to descend, and places the bar material on the rear end of the stage 32 on the multiple conveyor rollers 22. (15) After the above process is repeated several times, multiple bars required for storage can be placed on the multiple conveyor rollers 22. In this embodiment, after the above process is repeated three times, three bars required for storage can be placed on the multiple conveyor rollers 22.

[0034] (16) The control system calls the rotary docking mechanism 4 to run to the corresponding position for docking with the multiple conveyor rollers 22. The rotary platform 31 drives the docking roller 17 to complete a 90-degree rotation and then dock with the multiple conveyor rollers 22. The multiple conveyor rollers 22 transport the three bars to the docking flat roller 171 of the docking roller 17. The rotary docking mechanism 4 moves to the corresponding position for docking with the conveying roller 3 in the warehouse, and the rotating platform 31 drives the docking roller 17 to rotate 90 degrees again and dock with the conveying roller 3 in the warehouse, and the docking flat roller 171 transports the bar material to the conveying roller 3 in the warehouse; (17) The control system sends a storage instruction to the robot 1, and the winch 30 drives the material picking fork 8 to descend to the material picking position. The material picking fork 8 takes out the entire row of bars on the conveyor roller 3 in the warehouse and stores them on the shelf 2 at the warehouse position specified by the control system.

[0035] (2) The whole row of bar stock out of the warehouse process: (21) After receiving the outbound instruction, the robot 1 automatically moves to the shelf 2 at the corresponding location of the stereoscopic warehouse 26. The robot 1 takes out the entire row of bars on the cantilever 14 through the material fork 8 and places the entire row of bars on the conveyor roller 3 in the warehouse; (22) The control system simultaneously calls the rotary docking mechanism 4 to move to the corresponding position for docking with the conveyor roller 3 in the warehouse. The rotary platform 31 drives the docking roller 17 to complete a 90-degree rotation and dock with the conveyor roller 3 in the warehouse. The conveyor roller 3 in the warehouse transports the entire row of bars to the docking flat roller 171 of the docking roller 17, realizing the automatic outbound delivery of the entire row of bars. The entire row of bars on the docking flat roller 171 can be removed later.

[0036] (3) Single bar outbound process: (31) After receiving the outbound instruction, the robot 1 automatically moves to the shelf 2 at the corresponding location of the stereoscopic warehouse 26. The robot 1 takes out the entire row of bars from the cantilever 14 through the material fork 8 and places the entire row of bars on the conveyor roller 3 in the warehouse; (32) The control system simultaneously calls the rotary docking mechanism 4 to move to the corresponding position for docking with the conveyor roller 3 in the warehouse. The rotary platform 31 drives the docking roller 17 to complete a 90-degree rotation and dock with the conveyor roller 3 in the warehouse. The conveyor roller 3 in the warehouse transports the entire row of bars to the docking flat roller 171 of the docking roller 17. (33) The rotary docking mechanism 4 moves again to the corresponding position for docking with the multiple conveyor rollers 22. After the rotary platform 31 drives the docking roller 17 to rotate 90 degrees again, the docking flat roller 171 is docked with the multiple conveyor rollers 22, and the docking V-shaped roller 172 is docked with the single conveyor roller 24. The docking flat roller 171 transports the entire row of bars to the multiple conveyor rollers 22. (34) A flap mechanism 19 is arranged between the multiple conveying rollers 22 and the single conveying roller 24. The flap driving mechanism 31 drives the flap 29 to flip upward. The front end of the flap 29 lifts up the single bar material on the multiple conveying rollers 22. The tilting shape of the flap 29 causes the bar material to roll toward the rear end of the flap 29 under the action of gravity. The flap driving mechanism 31 drives the flap 29 to flip downward, and places the bar material on the rear end of the flap 29 on the single conveying roller 24. (35) The single bar conveyor roller 24 conveys the single bar to the V-shaped roller conveyor 172, thereby realizing the automatic outbound storage of the single bar. The single bar on the V-shaped roller conveyor 172 can be removed later.

[0037] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different, and the above content described in this specification is only an example of the structure of the present invention. All equivalent changes or simple changes made based on the structure, features and principles of the patent concept of the present invention are included in the protection scope of the patent of the present invention. Technicians in the technical field of the present invention can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An automatic storage system for raw steel pipes and bars, comprising a three-dimensional warehouse, in which a manipulator, shelves and a conveyor roller are arranged; characterized in that: It also includes a rotary docking mechanism and an off-warehouse bar material sorting mechanism; the rotary docking mechanism is arranged between the conveying rollers in the warehouse and the off-warehouse bar material sorting mechanism, and includes a moving mechanism, a docking roller and a rotating platform; the rotating platform is installed on the moving mechanism; the docking roller is installed on the rotating platform; the off-warehouse bar material sorting mechanism includes a loading rack, a flap mechanism, an alignment roller, a lifting platform mechanism, multiple conveying rollers, a single conveying roller and a mounting frame; the loading rack is fixed on the mounting frame, and the loading rack is inclined with a high front end and a low rear end; the alignment roller is installed on the mounting frame; the multiple conveying rollers and the single conveying roller are both installed on the mounting frame; a lifting platform mechanism is arranged between the alignment roller and the multiple conveying rollers, and the lifting platform mechanism includes a platform and a platform driving mechanism; the platform is installed on the mounting frame in a lifting manner, The platform is in an inclined shape with a high front end and a low rear end, the front end of the platform is connected to the alignment roller, and the rear end is connected to multiple conveying rollers; the platform driving mechanism is installed on the mounting frame, and the platform driving mechanism is connected to the platform; the flap mechanism is installed on the mounting frame; the flap mechanism includes a flap and a flap driving mechanism; the flap driving mechanism is installed on the mounting frame; the flap is rotatably installed on the mounting frame, and the flap is in an inclined shape with a high front end and a low rear end; the flap driving mechanism is connected to the flap; the flap mechanism is arranged between the loading rack and the alignment roller, the front end of the flap is connected to the rear end of the loading rack, and the rear end of the flap is connected to the alignment roller; the flap mechanism is also arranged between the multiple conveying rollers and the single conveying roller, the front end of the flap is connected to the multiple conveying rollers, and the rear end of the flap is connected to the single conveying roller.

2. The automatic storage system for steel pipe raw materials and bars according to claim 1 is characterized in that: The shelf comprises a column, a cantilever and a protection block; the cantilever is fixed on the column and is used to place rods; the protection block is fixed on the column and is located above the cantilever.

3. The automatic storage system for steel pipe raw materials and bars according to claim 1 is characterized in that: The manipulator comprises a truss, a material fork, a hanging beam, a guide column and a winch; the truss is slidably installed on the stereoscopic warehouse; the guide column is fixedly installed on the truss; the winch is installed on the truss; the hanging beam is lifted and installed on the guide column, and the winch is connected to the hanging beam; the material fork is installed on the hanging beam.

4. The automatic storage system for steel pipe raw materials and bars according to claim 1 is characterized in that: The butt joint roller conveyor comprises a butt joint flat roller conveyor and a butt joint V-shaped roller conveyor, and the butt joint flat roller conveyor and the butt joint V-shaped roller conveyor are arranged side by side.

5. The automatic storage system for steel pipe raw materials and bars according to claim 1 is characterized in that: The moving mechanism adopts the RGV trolley.

6. The automatic storage system for steel pipe raw materials and bars according to claim 1 is characterized in that: The flap driving mechanism and the platform driving mechanism both adopt oil cylinders.

7. The automatic storage system for steel pipe raw materials and bars according to claim 1 is characterized in that: The flap driving mechanism and the platform driving mechanism both adopt oil cylinders.

8. The automatic storage system for steel pipe raw materials and bars according to claim 1 is characterized in that: The lifting platform mechanism also includes a connecting rod, and the platform driving mechanism is connected to the platform via the connecting rod.

9. The automatic storage system for steel pipe raw materials and bars according to claim 1, characterized in that: The flap mechanism also includes a bearing seat, the bearing seat is mounted on the mounting frame, and the flap is rotatably mounted on the bearing seat.

10. A working method of an automatic storage system for steel pipe raw material bars according to any one of claims 1 to 9, characterized in that: Including the storage process, the whole row of bars out of the warehouse process and the single bar out of the warehouse process: (1) Warehousing process: (11) After a bundle of bars is hoisted to the loading rack, the tilt of the loading rack causes the bars to roll to the rear end of the rack under the action of gravity; (12) A flap mechanism is arranged between the loading rack and the alignment roller, the flap driving mechanism drives the flap to flip upward, the front end of the flap lifts up the bar material on the rear end of the loading rack, and the tilt of the flap causes the bar material to roll toward the rear end of the flap under the action of gravity; the flap driving mechanism drives the flap to flip downward, and places the bar material on the rear end of the flap on the alignment roller; (13) The bars are aligned on the alignment rollers; (14) The platform driving mechanism drives the platform to rise, and the front end of the platform lifts up the bar material on the alignment roller. The tilt of the platform makes the bar material roll to the rear end of the platform under the action of gravity; the platform driving mechanism drives the platform to descend, and places the bar material on the rear end of the platform on multiple conveyor rollers; (15) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with multiple conveyor rollers. The multiple conveyor rollers transport the bar materials to the docking rollers; The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The docking roller conveys the bar material to the conveying roller in the warehouse; (16) The robot takes out the bars from the conveyor roller in the warehouse and stores them on the shelf; (2) The whole row of bar stock out of the warehouse process: (21) The robot moves to the shelf at the corresponding storage location, takes out the entire row of bars on the shelf and places the entire row of bars on the conveyor roller in the warehouse; (22) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse transports the entire row of bars to the docking roller, and the entire row of bars is shipped out of the warehouse; (3) Single bar outbound process: (31) The robot moves to the shelf at the corresponding storage location, takes out the entire row of bars on the shelf and places the entire row of bars on the conveyor roller in the warehouse; (32) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse transports the entire row of bars to the docking roller; (33) The rotary docking mechanism moves to the corresponding position, and the rotary platform drives the docking roller to rotate and dock with multiple conveying rollers and a single conveying roller; the docking roller conveys the entire row of bars to the multiple conveying rollers; (34) A flap mechanism is arranged between the multiple conveying rollers and the single conveying roller, the flap driving mechanism drives the flap to flip upward, the front end of the flap lifts up the single bar material on the multiple conveying rollers, and the tilt of the flap causes the bar material to roll toward the rear end of the flap under the action of gravity; the flap driving mechanism drives the flap to flip downward, and the single bar material on the rear end of the flap is placed on the single conveying roller; (35) The single conveyor roller conveys the single bar material to the docking roller conveyor to realize the single bar material out of the warehouse.

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