Automatic storage system suitable for steel pipe raw material rods and working method thereof

Abstract

The application provides an automatic storage system suitable for steel pipe raw material rods and a working method thereof, and has high automation degree, large storage capacity, high warehouse in / out efficiency, and can realize the warehouse out of single rod and whole row of rods simultaneously. A rotating platform is installed on a moving mechanism; a butt joint roller way is installed on the rotating platform; an alignment roller way, multiple rod conveying roller ways and single rod conveying roller way are all installed on a mounting frame; a lifting rack mechanism is arranged between the alignment roller way and the multiple rod conveying roller ways; a rack is installed on the mounting frame, a front end of the rack is connected with the alignment roller way, and a rear end of the rack is connected with the multiple rod conveying roller ways; a rack driving mechanism is installed on the mounting frame, and the rack driving mechanism is connected with the rack; a flap mechanism is installed on the mounting frame; a flap driving mechanism is installed on the mounting frame; a flap is installed on the mounting frame, and the flap driving mechanism is connected with the flap; the flap mechanism is arranged between the feeding frame and the alignment roller way; and the flap mechanism is also arranged between the multiple rod conveying roller ways and the single rod conveying roller way.

Description

Technical Field

[0001] This invention relates to an automated storage system for steel pipe raw material bars and its operating method. Background Technology

[0002] In the steel pipe industry, how to store steel pipe raw material bars simply, efficiently, and automatically is a hot topic. Traditional storage methods involve manually sorting bars of a certain quantity and specifications and then manually operating overhead cranes to transport them to floor stacks or racks for storage. This manual storage and retrieval method significantly increases labor costs and also suffers from low efficiency, low storage space utilization, and difficulties in material management.

[0003] Chinese patent number 201911015273.2 discloses an automated storage and retrieval system (AS / RS) for pipes and a method for their inbound and outbound operations. The system includes shelves, storage frames for pipes, a conveyor trolley for the storage frames, a lifting mechanism, a traveling mechanism, and a storage and retrieval mechanism. The storage frames and conveyor trolleys work together to transport the pipes to designated storage locations for inbound storage and to deliver the storage frames to the warehouse exit for outbound storage. The traveling mechanism enables the platform to move horizontally on the shelves, while the lifting mechanism uses a winch to achieve the vertical lifting and lowering of the storage and retrieval mechanism. The storage and retrieval mechanism is responsible for retrieving the storage frames and placing the pipes at designated shelf locations or retrieving them from designated locations, thus realizing the inbound and outbound operations for pipes. While this patented solution achieves automated storage for long and heavy steel pipes, it can only handle the outbound of entire rows of bars, and cannot simultaneously handle the outbound of single bars or entire rows of bars. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings in the prior art and to provide an automated storage system and its working method that is structurally reasonable and suitable for steel pipe raw material bars. It has a high degree of automation, large storage capacity, high inbound and outbound efficiency, and can simultaneously realize the outbound of single bars and entire rows of bars.

[0005] The technical solution adopted by this invention to solve the above problems is: an automated storage system suitable for steel pipe raw material bars, including an automated storage and retrieval system (AS / RS), in which a robotic arm, shelves, and in-storage conveyor rollers are installed; characterized in that: it further includes a rotating docking mechanism and an external bar sorting mechanism; the rotating docking mechanism is located between the in-storage conveyor rollers and the external bar sorting mechanism, and includes a moving mechanism, docking rollers, and a rotating platform; the rotating platform is installed on the moving mechanism; the docking rollers are installed on the rotating platform; the external bar sorting mechanism includes a loading rack, a flipping mechanism, an alignment roller, a lifting platform mechanism, multiple conveyor rollers, a single conveyor roller, and a mounting frame; the loading rack is fixed on the mounting frame, and the loading rack is inclined with a higher front end and a lower rear end; the alignment roller is installed on the mounting frame; both the multiple conveyor rollers and the single conveyor roller are installed on the mounting frame; a lifting mechanism is provided between the alignment roller and the multiple conveyor rollers. The platform mechanism includes a platform and a platform drive mechanism. The platform is mounted on a mounting frame with a lifting mechanism. The platform is inclined with a higher front end and a lower rear end. The front end of the platform connects to the alignment roller conveyor, and the rear end connects to multiple conveyor roller conveyors. The platform drive mechanism is mounted on the mounting frame and connected to the platform. A flip-plate mechanism is mounted on the mounting frame. The flip-plate mechanism includes a flip-plate and a flip-plate drive mechanism. The flip-plate drive mechanism is mounted on the mounting frame. The flip-plate is rotatably mounted on the mounting frame and is inclined with a higher front end and a lower rear end. The flip-plate drive mechanism is connected to the flip-plate. The flip-plate mechanism is provided between the loading frame and the alignment roller conveyor. The front end of the flip-plate connects to the rear end of the loading frame, and the rear end of the flip-plate connects to the alignment roller conveyor. The flip-plate mechanism is also provided between multiple conveyor roller conveyors and a single conveyor roller conveyor. The front end of the flip-plate connects to multiple conveyor roller conveyors, and the rear end of the flip-plate connects to a single conveyor roller conveyor.

[0006] The shelving described in this invention includes uprights, cantilever arms, and protective blocks; the cantilever arms are fixed to the uprights and are used to place bar stock; the protective blocks are fixed to the uprights and are located above the cantilever arms.

[0007] The robotic arm of the present invention includes a truss, a picking fork, a lifting beam, a guide column, and a winch; the truss is slidably installed on the automated warehouse; the guide column is fixedly installed on the truss; the winch is installed on the truss; the lifting beam is lifted and installed on the guide column, and the winch is connected to the lifting beam; the picking fork is installed on the lifting beam.

[0008] The docking roller conveyor of the present invention includes a docking flat roller conveyor and a docking V-shaped roller conveyor, which are arranged side by side.

[0009] The mobile mechanism described in this invention uses an RGV trolley.

[0010] Both the flip-plate drive mechanism and the platform drive mechanism described in this invention employ hydraulic cylinders.

[0011] Both the flip-plate drive mechanism and the platform drive mechanism described in this invention employ hydraulic cylinders.

[0012] The lifting platform mechanism of the present invention also includes a connecting rod, and the platform drive mechanism is connected to the platform through the connecting rod.

[0013] The flipping mechanism of the present invention also includes a bearing seat, which is mounted on a mounting frame, and the flipping plate is rotatably mounted on the bearing seat.

[0014] A method for operating an automated storage system for steel pipe raw material bars, characterized by including: an inbound process, a process for removing entire rows of bars, and a process for removing individual bars.

[0015] (1) Warehousing process:

[0016] (11) After a bundle of bar stock is hoisted to the loading rack, the inclined shape of the loading rack causes the bar stock to roll to the rear end of the loading rack under the action of gravity;

[0017] (12) A flipping mechanism is set between the loading rack and the alignment roller conveyor. The flipping driving mechanism drives the flipping plate to flip upward. The front end of the flipping plate lifts the bar material on the rear end of the loading rack. The tilt of the flipping plate causes the bar material to roll to the rear end of the flipping plate under the action of gravity. The flipping driving mechanism drives the flipping plate to flip downward and places the bar material on the rear end of the flipping plate on the alignment roller conveyor.

[0018] (13) The bar stock is aligned on the alignment roller conveyor;

[0019] (14) The platform drive mechanism drives the platform to rise, the front end of the platform lifts up the bar on the aligned roller table, and the inclined shape of the platform causes the bar to roll to the rear end of the platform under the action of gravity; the platform drive mechanism drives the platform to fall, placing the bar on the rear end of the platform onto multiple conveyor roller tables.

[0020] (15) The rotating docking mechanism runs to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with multiple conveying rollers. The multiple conveying rollers transport the bar material to the docking roller.

[0021] When the rotating docking mechanism moves to the corresponding position, the rotating platform drives the docking roller conveyor to rotate and dock with the conveyor roller conveyor in the warehouse. The docking roller conveyor then transports the bar stock onto the conveyor roller conveyor in the warehouse.

[0022] (16) The robotic arm removes the bar stock from the conveyor rollers in the warehouse and stores it on the shelf;

[0023] (2) Process of unloading the entire bar stock:

[0024] (21) The robot moves to the shelf of the corresponding storage location, takes out the whole row of bar stock from the shelf and places the whole row of bar stock on the conveyor roller in the warehouse;

[0025] (22) The rotating docking mechanism runs to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse conveys the whole row of bar material to the docking roller, realizing the out of the warehouse of the whole row of bar material.

[0026] (3) Single bar stock release process:

[0027] (31) The robot moves to the shelf of the corresponding storage location, takes out the whole row of bar stock from the shelf and places the whole row of bar stock on the conveyor roller in the warehouse;

[0028] (32) The rotating docking mechanism runs to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse conveys the whole row of bars to the docking roller.

[0029] (33) The rotating docking mechanism moves to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with multiple conveying rollers and a single conveying roller; the docking roller conveyor transports the entire row of bars to multiple conveying rollers;

[0030] (34) A flapping mechanism is set between multiple conveyor rollers and a single conveyor roller. The flapping driving mechanism drives the flapping to flip upward. The front end of the flapping lifts the single bar on the multiple conveyor rollers. The tilt of the flapping causes the bar to roll to the rear end of the flapping under the action of gravity. The flapping driving mechanism drives the flapping to flip downward and places the single bar on the rear end of the flapping on the single conveyor roller.

[0031] (35) A single conveyor roller conveyor transports a single bar to the docking roller conveyor to realize the release of the single bar from the warehouse.

[0032] Compared with the prior art, the present invention has the following advantages and effects:

[0033] 1. This invention, through the design of an external bar stock sorting mechanism, enables bar stocks to be grouped and arranged into a specified quantity before being stored in the warehouse, replacing the traditional manual hoisting method, reducing labor intensity and improving work efficiency.

[0034] 2. When leaving the warehouse, it can realize the exit of the entire row of bar stock; at the same time, the entire row of bar stock can be separated into individual bars in the bar stock sorting mechanism outside the warehouse. After cooperating with the rotating docking mechanism, it can realize the exit of individual bar stock, which can be directly connected to the subsequent sawing production line for feeding, greatly improving the automation level of the production line.

[0035] 3. The rotating docking mechanism enables automated transfer of bar stock inside and outside the warehouse, reducing labor intensity and improving bar stock handling efficiency; the robotic arm enables automated entry and exit of bar stock.

[0036] 4. This invention has the advantages of high automation, large storage capacity, and high warehousing efficiency, providing a feasible solution for the steel pipe industry on how to automatically store bar stock. Attached Figure Description

[0037] Figure 1 This is a front view structural diagram of an embodiment of the present invention;

[0038] Figure 2 This is a side view of the structure according to an embodiment of the present invention;

[0039] Figure 3 This is a top view of the structure according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the axial structure according to an embodiment of the present invention;

[0041] Figure 5 This is a front view structural diagram of the shelf according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the rotating docking mechanism and its top view according to an embodiment of the present invention;

[0043] Figure 7 This is an embodiment of the present invention. Figure 6 A top view of the rotating docking mechanism after the docking roller conveyor has rotated 90 degrees;

[0044] Figure 8 This is a side view of the bar stock sorting mechanism outside the storage area according to an embodiment of the present invention;

[0045] Figure 9 This is a top view schematic diagram of the bar stock sorting mechanism outside the storage area according to an embodiment of the present invention;

[0046] Figure 10 This is a schematic diagram of the axial structure of the bar stock sorting mechanism outside the storage area according to an embodiment of the present invention;

[0047] Figure 11 This is a schematic diagram of the front view of the flip-plate mechanism according to an embodiment of the present invention;

[0048] Figure 12 This is a side view of the flip-plate mechanism according to an embodiment of the present invention;

[0049] Figure 13 This is a schematic diagram of the front view of the lifting platform mechanism according to an embodiment of the present invention;

[0050] Figure 14 This is a side view of the lifting platform mechanism according to an embodiment of the present invention;

[0051] Figure 15 This is a schematic diagram of the axonal structure of the lifting platform mechanism according to an embodiment of the present invention. Detailed Implementation

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0053] The automated warehousing system of this invention includes a robotic arm 1, a shelf 2, an in-warehouse conveyor roller conveyor 3, a rotary docking mechanism 4, an external bar material sorting mechanism 5, an automated warehouse 26, and a base platform 12.

[0054] 1. The automated storage and retrieval system 26 includes racks 27, tracks 28, and ground tracks 29. The racks 27 are fixedly mounted on the base platform 12, the tracks 28 are fixedly mounted on the racks 27, and the ground tracks 29 are fixedly mounted on the base platform 12.

[0055] II. The rack 2 is installed in the automated storage and retrieval system 26, and includes uprights 13, cantilever arms 14, and protective blocks 15. Uprights 13 are bolted to the base platform 12. Cantilever arms 14 are welded to the uprights 13 and are used to place bar stock. Protective plates made of ultra-high molecular weight polyethylene are installed on the areas of the cantilever arms 14 that come into contact with the bar stock. Protective blocks 15 are bolted to the uprights 13 and are located above the cantilever arms 14. When bar stock is placed on the cantilever arms 14, it may impact the uprights 13. In this case, the protective blocks 15 protect the impact area. The protective blocks 15 are also made of ultra-high molecular weight polyethylene.

[0056] III. The robotic arm 1 is installed in the automated storage and retrieval system 26, and includes a truss, a forklift 8, a lifting beam 9, guide columns 10, guide wheels 11, and a winch 30. The truss includes a main beam 6 and end beams 7, which are connected and fixed by bolts. The end beams 7 are slidably mounted on a track 28, allowing them to move. Thus, the truss is slidably mounted on the track 28, enabling the robotic arm 1 to slide on the storage rack 27. The guide columns 10 are fixedly mounted on the main beam 6 of the truss, and guide wheels 11 are installed at the bottom of the guide columns 10. The guide wheels 11 are slidably mounted on a ground rail 29, thus guiding the movement of the truss. The winch 30 is mounted on the main beam 6 of the truss. The lifting beam 9 is lifted and lowered on the guide columns 10, with guide wheels at both ends. The guide wheels are connected to the guide rails of the guide columns 10, enabling stable lifting and lowering of the lifting beam 9. The winch 30 is connected to the lifting beam 9 by a wire rope, and the winch 30 drives the drum to raise and lower the lifting beam 9. The picking forks 8 are bolted to the lifting beam 9. In this embodiment, there are 6 picking forks 8. The picking forks 8 can pick up materials in both directions, and each picking fork 8 can be controlled individually.

[0057] IV. The internal conveyor roller conveyor 3 is installed on the base platform 12 and is located in the automated storage and retrieval system 26. The internal conveyor roller conveyor 3 cooperates with the robotic arm 1 and the rotary docking mechanism.

[0058] V. The rotating docking mechanism 4 is located between the conveyor roller conveyor 3 inside the silo and the bar material sorting mechanism 5 outside the silo. It includes a moving mechanism 16, a docking roller conveyor 17, and a rotating platform 31. The rotating platform 31 is mounted on the moving mechanism 16, which drives the rotating platform 31 and the docking roller conveyor 17 to move to the corresponding positions. The moving mechanism 16 is an RGV trolley. The docking roller conveyor 17 is mounted on the rotating platform 31, which drives the docking roller conveyor 17 to rotate horizontally. The docking roller conveyor 17 includes a docking flat roller conveyor 171 and a docking V-shaped roller conveyor 172, which are arranged side by side.

[0059] VI. The bar material sorting mechanism 5 outside the warehouse includes a loading rack 18, a flipping mechanism 19, an alignment roller conveyor 20, a lifting platform mechanism 21, multiple conveyor roller conveyors 22, a single conveyor roller conveyor 24, and a mounting frame 23.

[0060] Mounting bracket 23 is fixed to the base platform 12 by bolts.

[0061] The flip-plate mechanism 19 is mounted on the mounting frame 23. The flip-plate mechanism 19 includes a flip plate 29, a bearing seat 30, and a flip-plate drive mechanism 31. Both the bearing seat 30 and the flip-plate drive mechanism 31 are mounted on the mounting frame 23. The flip plate 29 is rotatably mounted on the bearing seat 30, thus rotating the flip plate 29 onto the mounting frame 23. The flip plate 29 is tilted with its front end higher than its rear end. The flip-plate drive mechanism 31 is connected to the flip plate 29 and drives the flip plate 29 to flip up and down. The flip-plate drive mechanism 31 is a hydraulic cylinder.

[0062] The feeding rack 18 is fixed to the mounting frame 23 by bolts. The feeding rack 18 is inclined with the front end higher and the rear end lower, with an inclination angle of 2 degrees.

[0063] Alignment roller conveyor 20 is mounted on mounting frame 23. Alignment roller conveyor 20 is used to transport bar stock to a fixed position to achieve head alignment of the bar stock. In this embodiment, two photoelectric sensors are provided at the ends of alignment roller conveyor 20. During bar stock transport, when the first photoelectric sensor detects the bar stock, the control system controls alignment roller conveyor 20 to immediately decelerate, and the bar stock is slowly transported forward. When the second photoelectric sensor detects the bar stock, the control system controls alignment roller conveyor 20 to stop moving, and the bar stock stops in place, thereby achieving head alignment of the bar stock. Alignment roller conveyor 20 can also use other existing methods to achieve bar stock alignment.

[0064] The aforementioned flipping mechanism 19 is provided between the feeding rack 18 and the alignment roller conveyor 20. The front end of the flipping plate 29 is connected to the rear end of the feeding rack 18, and the rear end of the flipping plate 29 is connected to the alignment roller conveyor 20.

[0065] Both the multiple conveyor rollers 22 and the single conveyor roller 24 are mounted on the mounting frame 23. The docking flat roller conveyor 171 can dock with the multiple conveyor rollers 22, and the docking V-shaped roller conveyor 172 can dock with the single conveyor roller 24. In fact, when the docking flat roller conveyor 171 docks with the multiple conveyor rollers 22, the docking V-shaped roller conveyor 172 also docks with the single conveyor roller 24. However, the conveying of the bar stock only occurs between the docking V-shaped roller conveyor 172 and the single conveyor roller 24 during the single bar stock removal process.

[0066] A lifting platform mechanism 21 is provided between the alignment roller conveyor 20 and the multiple conveyor roller conveyors 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 drive mechanism 34. The platform 32 is mounted on the mounting frame 23 in a lifting manner, with the front end higher than the rear end, and the inclination angle is 2 degrees. The front end of the platform 32 connects to the alignment roller conveyor 20, and the rear end connects to the multiple conveyor roller conveyors 22. The platform drive mechanism 34 is mounted on the mounting frame 23 and is connected to the platform 32 through the connecting rod 33, driving the platform 32 to rise and fall. The platform drive mechanism 34 is a hydraulic cylinder.

[0067] The aforementioned flipping mechanism 19 is also provided between the multiple conveyor rollers 22 and the single conveyor roller 24. The front end of the flipping mechanism 29 is connected to the multiple conveyor rollers 22, and the rear end of the flipping mechanism 29 is connected to the single conveyor roller 24.

[0068] VII. The working method of this invention includes a warehousing process, a process for removing entire rows of bar stock, and a process for removing a single bar stock:

[0069] (1) Warehousing process:

[0070] (11) After a bundle of bar stock is manually hoisted to the loading rack 18 by a crane, the inclined shape of the loading rack 18 causes the bar stock to roll to the rear end of the loading rack 18 under the action of gravity.

[0071] (12) A flipping mechanism 19 is provided between the loading rack 18 and the alignment roller conveyor 20. The flipping driving mechanism 31 drives the flipping plate 29 to flip upward. The front end of the flipping plate 29 lifts the single bar on the rear end of the loading rack 18. The tilt of the flipping plate 29 causes the bar to roll to the rear end of the flipping plate 29 under the action of gravity. The flipping driving mechanism 31 drives the flipping plate 29 to flip downward and place the bar on the rear end of the flipping plate 29 on the alignment roller conveyor 20.

[0072] (13) The bar stock is aligned on the alignment roller conveyor 20;

[0073] (14) The platform drive mechanism 34 drives the platform 32 to rise, and the front end of the platform 32 lifts the bar on the aligned roller table 20. The inclined shape of the platform 32 causes the bar to roll towards the rear end of the platform 32 under the action of gravity. After the bar is in place, the platform drive mechanism 34 drives the platform 32 to fall, and places the bar on the rear end of the platform 32 onto multiple conveying roller tables 22.

[0074] (15) After the above process is repeated multiple times, multiple bar stock required for warehousing can be placed on multiple conveyor rollers 22; in this embodiment, after the above process is repeated 3 times, 3 bar stock required for warehousing can be placed on multiple conveyor rollers 22.

[0075] (16) The control system calls the rotating docking mechanism 4 to run to the corresponding position to dock with the multiple conveying rollers 22. The rotating platform 31 drives the docking roller 17 to complete a 90-degree rotation and dock with the multiple conveying rollers 22. The multiple conveying rollers 22 transport the 3 bars to the docking flat roller 171 of the docking roller 17.

[0076] The rotating docking mechanism 4 runs to the corresponding position to dock with the conveyor roller 3 in the warehouse. The rotating platform 31 drives the docking roller 17 to rotate 90 degrees again and dock with the conveyor roller 3 in the warehouse. The docking flat roller 171 conveys the bar material to the conveyor roller 3 in the warehouse.

[0077] (17) The control system sends an entry command to the robot arm 1. The winch 30 drives the picking fork 8 to descend to the picking position. The picking fork 8 takes out the whole row of bar material on the conveyor roller 3 in the warehouse and stores it on the shelf 2 of the warehouse location specified by the control system.

[0078] (2) Process of unloading the entire bar stock:

[0079] (21) After receiving the outbound instruction, the robot 1 automatically moves to the shelf 2 of the corresponding storage location in the automated warehouse 26. The robot 1 uses the picking fork 8 to take out the whole row of bar materials on the cantilever 14 and place the whole row of bar materials on the conveyor roller 3 in the warehouse.

[0080] (22) The control system simultaneously calls the rotating docking mechanism 4 to move to the corresponding position to dock with the conveyor roller 3 in the warehouse. The rotating 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 release of the entire row of bars from the warehouse. The entire row of bars on the docking flat roller 171 can be removed subsequently.

[0081] (3) Single bar stock release process:

[0082] (31) After receiving the outbound instruction, the robot 1 automatically moves to the shelf 2 of the corresponding storage location in the automated warehouse 26. The robot 1 uses the picking fork 8 to take out the whole row of bar materials on the cantilever 14 and place the whole row of bar materials on the conveyor roller 3 in the warehouse.

[0083] (32) The control system simultaneously calls the rotating docking mechanism 4 to run to the corresponding position to dock with the conveying roller 3 in the warehouse. The rotating platform 31 drives the docking roller 17 to complete a 90-degree rotation and dock with the conveying roller 3 in the warehouse. The conveying roller 3 in the warehouse transports the whole row of bars to the docking flat roller 171 of the docking roller 17.

[0084] (33) The rotating docking mechanism 4 runs again to the corresponding position to dock with the multiple conveyor rollers 22. After the rotating platform 31 drives the docking roller 17 to rotate 90 degrees again, the docking flat roller 171 docks with the multiple conveyor rollers 22, and the docking V-shaped roller 172 docks with the single conveyor roller 24. The docking flat roller 171 conveys the entire row of bars to the multiple conveyor rollers 22.

[0085] (34) A flipping mechanism 19 is provided between multiple conveying rollers 22 and a single conveying roller 24. The flipping driving mechanism 31 drives the flipping 29 to flip upward. The front end of the flipping 29 lifts the single bar on the multiple conveying rollers 22. The tilt of the flipping 29 causes the bar to roll to the rear end of the flipping 29 under the action of gravity. The flipping driving mechanism 31 drives the flipping 29 to flip downward and places the bar on the rear end of the flipping 29 onto the single conveying roller 24.

[0086] (35) The single conveyor roller 24 conveys the single bar to the V-shaped roller 172, realizing the automatic release of the single bar. The single bar on the V-shaped roller 172 can be taken away later.

[0087] Furthermore, it should be noted that the specific embodiments described in this specification may differ in the shape and name of their components, etc. The above description is merely illustrative of the structure of the present invention. All equivalent or simple variations made based on the construction, features, and principles of this invention are included within the scope of protection of this patent. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to substitute them, as long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, all of which should fall within the scope of protection of this invention.

Claims

1. An automated storage system for steel pipe raw material bars, comprising an automated storage and retrieval system (AS / RS), wherein the AS / RS is equipped with robotic arms, shelves, and internal conveyor rollers; characterized in that: It also includes a rotary docking mechanism and an external bar stock sorting mechanism; the rotary docking mechanism is located between the internal conveyor roller conveyor and the external bar stock sorting mechanism, and includes a moving mechanism, docking roller conveyors, and a rotating platform; the rotating platform is mounted on the moving mechanism; the docking roller conveyors are mounted on the rotating platform, and the docking roller conveyors include docking flat roller conveyors and docking V-shaped roller conveyors, which are arranged side by side; the external bar stock sorting mechanism includes a loading rack, a flipping mechanism, an alignment roller conveyor, a lifting platform mechanism, multiple conveyor roller conveyors, a single conveyor roller conveyor, and a mounting frame; the mounting frame is fixed to the base platform by bolts; the loading rack is fixed to the mounting frame, and the loading rack is inclined with a higher front end and a lower rear end; the alignment roller conveyor is mounted on the mounting frame; both the multiple conveyor roller conveyors and the single conveyor roller conveyor are mounted on the mounting frame; a lifting platform mechanism is provided between the alignment roller conveyor and the multiple conveyor roller conveyors, and the lifting platform mechanism is used to lift... The lowering platform mechanism includes a platform and a platform drive mechanism. The platform is mounted on the mounting frame in a lifting manner, with the front end higher than the rear end. The front end of the platform connects to the alignment roller conveyor, and the rear end connects to multiple conveyor roller conveyors. The platform drive mechanism is mounted on the mounting frame and connected to the platform. The flipping mechanism is mounted on the mounting frame. The flipping mechanism includes a flipping plate and a flipping plate drive mechanism. The flipping plate drive mechanism is mounted on the mounting frame. The flipping plate is rotatably mounted on the mounting frame, with the front end higher than the rear end. The flipping plate drive mechanism is connected to the flipping plate. The flipping mechanism is provided between the loading frame and the alignment roller conveyor, with the front end of the flipping plate connecting to the rear end of the loading frame and the rear end of the flipping plate connecting to the alignment roller conveyor. The flipping mechanism is also provided between multiple conveyor roller conveyors and a single conveyor roller conveyor, with the front end of the flipping plate connecting to multiple conveyor roller conveyors and the rear end of the flipping plate connecting to a single conveyor roller conveyor.

2. The automated storage system for steel pipe raw material bars according to claim 1, characterized in that: The rack includes uprights, cantilever arms, and protective blocks; the cantilever arms are fixed to the uprights and are used to place bar stock; the protective blocks are fixed to the uprights and are located above the cantilever arms.

3. The automated storage system for steel pipe raw material bars according to claim 1, characterized in that: The robotic arm includes a truss, a picking fork, a lifting beam, a guide column, and a winch; the truss is slidably installed on the automated warehouse; the guide column is fixedly installed on the truss; the winch is installed on the truss; the lifting beam is lifted and installed on the guide column, and the winch is connected to the lifting beam; the picking fork is installed on the lifting beam.

4. The automated storage system for steel pipe raw material bars according to claim 1, characterized in that: The aforementioned mobile mechanism is an RGV trolley.

5. The automated storage system for steel pipe raw material bars according to claim 1, characterized in that: Both the flip-plate drive mechanism and the platform drive mechanism are hydraulic cylinders.

6. The automated storage system for steel pipe raw material bars according to claim 1, characterized in that: Both the flip-plate drive mechanism and the platform drive mechanism are hydraulic cylinders.

7. The automated storage system for steel pipe raw material bars according to claim 1, characterized in that: The lifting platform mechanism also includes a connecting rod, and the platform drive mechanism is connected to the platform through the connecting rod.

8. The automated storage system for steel pipe raw material bars according to claim 1, characterized in that: The flip-plate mechanism also includes a bearing seat, which is mounted on a mounting frame, and the flip-plate is rotatably mounted on the bearing seat.

9. A method of operating an automated storage system for steel pipe raw material bars as described in any one of claims 1-8, characterized in that: This includes the warehousing process, the outbound process of entire rows of bar stock, and the outbound process of individual bar stock: (1) Warehousing process: (11) After a bundle of bar stock is hoisted to the loading rack, the inclined shape of the loading rack causes the bar stock to roll to the rear end of the loading rack under the action of gravity; (12) A flipping mechanism is set between the loading rack and the alignment roller conveyor. The flipping driving mechanism drives the flipping plate to flip upward. The front end of the flipping plate lifts the bar material on the rear end of the loading rack. The tilt of the flipping plate causes the bar material to roll to the rear end of the flipping plate under the action of gravity. The flipping driving mechanism drives the flipping plate to flip downward and places the bar material on the rear end of the flipping plate on the alignment roller conveyor. (13) The bar stock is aligned on the alignment roller conveyor; (14) The platform drive mechanism drives the platform to rise, the front end of the platform lifts up the bar on the aligned roller table, and the inclined shape of the platform causes the bar to roll to the rear end of the platform under the action of gravity; the platform drive mechanism drives the platform to fall, placing the bar on the rear end of the platform onto multiple conveyor roller tables. (15) The rotating docking mechanism runs to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with multiple conveying rollers. The multiple conveying rollers transport the bar material to the docking roller. When the rotating docking mechanism moves to the corresponding position, the rotating platform drives the docking roller conveyor to rotate and dock with the conveyor roller conveyor in the warehouse. The docking roller conveyor then transports the bar stock onto the conveyor roller conveyor in the warehouse. (16) The robotic arm removes the bar stock from the conveyor rollers in the warehouse and stores it on the shelf; (2) Process of unloading the entire bar stock: (21) The robot moves to the shelf of the corresponding storage location, takes out the whole row of bar stock from the shelf and places the whole row of bar stock on the conveyor roller in the warehouse; (22) The rotating docking mechanism runs to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse conveys the whole row of bar material to the docking roller, realizing the out of the warehouse of the whole row of bar material. (3) Single bar stock release process: (31) The robot moves to the shelf of the corresponding storage location, takes out the whole row of bar stock from the shelf and places the whole row of bar stock on the conveyor roller in the warehouse; (32) The rotating docking mechanism runs to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with the conveying roller in the warehouse. The conveying roller in the warehouse conveys the whole row of bars to the docking roller. (33) The rotating docking mechanism moves to the corresponding position, and the rotating platform drives the docking roller to rotate and dock with multiple conveying rollers and a single conveying roller; the docking roller conveyor transports the entire row of bars to multiple conveying rollers; (34) A flapping mechanism is set between multiple conveyor rollers and a single conveyor roller. The flapping driving mechanism drives the flapping to flip upward. The front end of the flapping lifts the single bar on the multiple conveyor rollers. The tilt of the flapping causes the bar to roll to the rear end of the flapping under the action of gravity. The flapping driving mechanism drives the flapping to flip downward and places the single bar on the rear end of the flapping on the single conveyor roller. (35) A single conveyor roller conveyor transports a single bar to the docking roller conveyor to realize the release of the single bar from the warehouse.

Images