Angle steel intelligent stereoscopic warehouse and intelligent control method thereof

Abstract

The invention belongs to the field of angle steel processing, and relates to an intelligent angle steel stereoscopic warehouse and an intelligent control method thereof. According to the intelligent angle steel stereoscopic warehouse, space manipulators are arranged above a whole-stack warehouse-out area and an intelligent unstacking warehouse-out area, an unloading warehouse-in area and an angle steel material frame temporary storage area are located at the angle steel warehouse-in end and are arranged side by side, and conveying roller ways are arranged on the outer sides of the angle steel material frame temporary storage area and the unloading warehouse-in area; a centering clamping mechanism, a weight sensor and a position sensor are arranged on the conveying roller way, a space robot is arranged above the angle steel material frame temporary storage area and the unloading warehousing area, empty angle steel material frames are placed in the angle steel material frame temporary storage area, and an angle steel turnover mechanism, a material receiving tray and a warehouse-out platform are arranged in the intelligent unstacking warehouse-out area. According to the intelligent control method for the intelligent angle steel stereoscopic warehouse, intelligent angle steel warehousing, intelligent angle steel unstacking and warehouse-out and whole-stack angle steel warehouse-out are achieved. The storage space of the angle steel is saved, the earlier-stage investment is saved, the whole stack of angle steel can be unstacked according to the number of the angle steel and can be automatically delivered out of a warehouse, and the angle steel delivery efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of angle steel processing, and in particular relates to an angle steel intelligent stereoscopic warehouse and an intelligent control method thereof. Background Art

[0002] Angle steel is the main component of power towers. Due to the large number of models and materials involved, it is difficult to deliver raw materials to the corresponding production lines in a timely and accurate manner during the production process of angle steel towers, which seriously inhibits the production efficiency of the back-end angle steel processing.

[0003] Due to the long length and heavy tonnage of angle steel, the current storage of angle steel requires the use of a fixed vertical warehouse structure composed of a stacker and a shelf. It costs a certain amount of money to build the angle steel shelf in the early stage, and the angle steel shelf occupies a large area in the workshop, which will hinder other work in the workshop. When the existing fixed vertical warehouse is in the process of angle steel out of the warehouse, when a small amount of angle steel is out of the warehouse, it is necessary to rely on manual labor to dismantle, inspect, dispatch and distribute the angle steel stacks using traditional tools such as crowbars and overhead cranes. There are unfavorable factors such as high labor intensity and high labor risks in the dismantling process. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an angle steel intelligent stereoscopic warehouse and an intelligent control method thereof. The technical solution adopted by the present invention is as follows: An intelligent three-dimensional warehouse for angle steels has several inlets and outlets corresponding to the angle steel production line on one side of the length direction of the warehouse, including: an unloading entry area, an angle steel material frame buffer area, a whole stack outbound area, an intelligent depalletizing and depalletizing area, a control system and several angle steel storage areas. A space manipulator is arranged above the whole stack outbound area and the intelligent depalletizing and depalletizing area. The unloading entry area and the angle steel material frame buffer area are located at one end of the angle steel entry and are arranged side by side. Conveying rollers are arranged outside the angle steel material frame buffer area and the unloading entry area. A centering clamping mechanism, a weight sensor and a position sensor are arranged on the conveying rollers. A space robot is arranged above the angle steel material frame buffer area and the unloading entry area. The space manipulator and the space robot can move up and down and horizontally. The conveying direction of the conveying roller is perpendicular to the horizontal movement direction of the space robot. A number of empty angle steel material frames are placed in the angle steel material frame buffer area. The angle steel material frame is a layered and split structure. The intelligent depalletizing and depalletizing area is provided with an angle steel flipping mechanism, a material receiving tray and a depalletizing platform.

[0005] Preferably, the intelligent depalletizing and outbound delivery area is provided with a depalletizing and outbound delivery support with a rectangular frame structure, a pair of parallel racks are arranged on the edges at both ends in the width direction of the depalletizing and outbound delivery support, a pair of first gears and a pair of second gears are respectively meshed with the racks, a pair of first gears are installed at both ends of the first rotating shaft, and a pair of second gears are installed at both ends of the second rotating shaft, the first rotating shaft is connected to the first reduction motor, the second rotating shaft is connected to the second reduction motor, the first reduction motor is installed in the middle of the first connecting rod, and the second reduction motor is installed in the middle of the second connecting rod, the first connecting rod and the second connecting rod are slidingly connected at both ends of the depalletizing and outbound delivery support, more than two first lifting cylinders and more than two second lifting cylinders are evenly installed on the first connecting rod and the second connecting rod, the first lifting cylinder piston rod is connected to the first lifting rod, the second lifting cylinder piston rod is connected to the second lifting rod, a number of first electromagnets are evenly installed on the first lifting rod, and a number of second electromagnets are evenly installed on the second lifting rod, the lower end of the first electromagnet is an inverted V-shaped structure, and the lower end of the second electromagnet is a positive V-shaped structure.

[0006] Preferably, a first visual recognition device is installed at one end of the first lifting rod, and a second visual recognition device is installed at one end of the second lifting rod.

[0007] Preferably, a plurality of outbound delivery platforms are evenly spaced on one side in the length direction below the depalletizing and outbound delivery bracket, a plurality of material receiving platforms are evenly spaced on the other side in the length direction below the depalletizing and outbound delivery bracket, a material receiving pallet is placed above the material receiving platform, and a turning platform is arranged between the outbound delivery platform and the material receiving platform.

[0008] Preferably, a flip motor is installed in the middle position of the upper end of the flip platform, both ends of the flip motor shaft are connected to the extended flip shaft, both ends of the flip shaft are installed with a flip frame, a third electromagnet is arranged above the flip frame, the third electromagnet is in a positive V-shaped structure, both ends of the flip shaft are rotatably installed in the flip seat together with the flip frame, the flip seat is installed above both ends of the flip platform in the length direction, a placing table is arranged on one side of the length direction of the upper end of the flip platform, and the upper end of the placing table is an inverted V-shaped protrusion structure.

[0009] Preferably, a detection sensor is arranged on the flip platform below the flip axis.

[0010] Preferably, a limiting protrusion is provided at the end of the conveying roller, and the centering clamping mechanism includes a pair of clamping cylinders and a pair of positioning baffles arranged opposite to each other, the pair of positioning baffles are movably installed on both outer sides in the length direction of the conveying roller, and a weight sensor is provided on the conveying roller below the clamping cylinder.

[0011] Preferably, several support platforms 1 are evenly spaced on one side of the length direction of the whole stack outbound area, and several support platforms 2 are evenly spaced on the other side of the length direction of the whole stack outbound area. The outbound pallet is placed on support platform 2, and a telescopic fork is installed between support platform 1 and support platform 2.

[0012] The intelligent control method of the angle steel intelligent stereoscopic warehouse uses the aforementioned angle steel intelligent stereoscopic warehouse and includes the following steps: Angle steel storage process: The space robot grabs the empty angle steel frame in the angle steel frame buffer area and places the angle steel frame at the front end of the conveyor roller. The conveyor roller transports the angle steel frame to the rear end and stops. The manual control crane lifts the angle steel from the truck and puts it into the angle steel frame. The centering clamping mechanism limits and clamps the angle steel. The weight sensor automatically completes the weighing. When the position sensor detects that there is material on the conveyor roller, the space robot grabs the angle steel frame with the angle steel and stores it in the area of ​​corresponding specifications in the unloading and storage area. Finally, the AGV vehicle transports the angle steel stack to the corresponding angle steel storage area. Intelligent depalletizing and outbound delivery process of angle steel: the spatial manipulator grabs the angle steel material frame with angle steel and places it on the outbound delivery platform. The inverted V-shaped angle steel is directly stacked on the receiving pallet. The positive V-shaped angle steel is flipped into an inverted V shape by the angle steel flipping mechanism and stacked on the receiving pallet. When the number of angle steels reaches the outbound delivery requirement, the receiving pallet is transported to the corresponding processing production line by the AGV vehicle. The process of angle steel stack outbound delivery: the spatial manipulator grabs the angle steel stack outbound and delivers it in a whole stack. The spatial manipulator grabs the empty angle steel material frame after the whole stack is delivered outbound. If the angle steel material frame buffer area is full, the empty angle steel material frame is placed in the original storage location, otherwise the empty angle steel material frame is placed in the angle steel material frame buffer area.

[0013] Preferably, when the angle steels are put into storage, the incoming material information of the angle steels is manually input into the control system. If the weight of the angle steels does not meet the preset requirements, an alarm prompts manual intervention. When the angle steels are intelligently destackered and shipped out of the warehouse, the angle steel material frame is grabbed by a spatial manipulator to transport the remaining angle steels on the shipping platform after destacking to the original warehouse location.

[0014] Beneficial effects of the present invention: In the present invention, a design of stacking and storing angle steels in angle steel material frames is adopted, which saves the storage space of angle steels and does not require the establishment of vertical warehouse shelves in the early stage, thus saving the initial investment of the vertical warehouse. In the present invention, an intelligent destacking and outbound platform is designed, which can automatically destacking and outbound the whole stack of angle steels according to the number of pieces, thereby improving the outbound efficiency of angle steels, reducing the workload of the staff, and improving the safety of the angle steels in the outbound process. The angle steel intelligent three-dimensional warehouse of the present invention can be flexibly moved according to the changing needs of the workshop production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a top plan view of the angle steel intelligent stereoscopic warehouse according to the first embodiment of the present invention; Figure 2for Figure 1 The right view of the angle steel stack structure in the unloading and storage area; Figure 3 for Figure 1 A schematic top view of the conveyor roller in FIG. Figure 4 for Figure 3 A partial enlarged view of the middle A; Figure 5 for Figure 1 The main view of the intelligent depalletizing and outbound delivery area; Figure 6 for Figure 5 A partial enlarged view of point B in the middle; Figure 7 for Figure 5 Right view of; Figure 8 for Figure 7 A partial view of the flip platform portion in FIG. Fig. 9 for Figure 5 A top view of Fig.10 This is a schematic diagram of the angle steel stack placed in the intelligent destacking and outbound storage area; Fig.11 A top view of the whole-pallet outbound storage area of ​​the first embodiment of the present invention; Fig.12 for Fig.11 Right view of; Fig.13 This is a flow chart of angle steel storage in the second embodiment of the present invention; Fig.14 This is a flow chart of intelligent destacking and warehouse-out of angle steels according to the second embodiment of the present invention; Fig.15 This is a flow chart of the whole stack of angle steels shipped out of the warehouse according to the second embodiment of the present invention; In the figure, 1 is the unloading storage area, 2 is the angle steel stack, 3 is the space manipulator, 4 is the whole stack out of the storage area, 5 is the intelligent depalletizing and out of the storage area, 6 is the angle steel material frame buffer area, 7 is the space robot, 8 is the angle steel, 9 is the angle steel material frame, 10 is the conveying roller, 11 is the centering clamping mechanism, 12 is the limiting protrusion, 13 is the clamping cylinder, 14 is the positioning baffle, 15 is the first cylinder group, 16 is the first electromagnet, 17 is the depalletizing and out of the storage bracket, 18 is the material receiving tray, 19 is the turning platform, 20 is the out of the storage platform, 21 is the second electromagnet, 22 is the rack, 23 is the gear, 24 is the second reduction motor Machine, 25 is the second cylinder group, 26 is the flip motor, 27 is the placement table, 28 is the detection sensor, 29 is the flip frame, 30 is the third electromagnet, 31 is the first reduction motor, 32 is the second rotating shaft, 33 is the first connecting rod, 34 is the first gear, 35 is the first rotating shaft, 36 is the second connecting rod, 37 is the first lifting cylinder, 38 is the first lifting rod, 39 is the first visual recognition device, 40 is the second visual recognition device, 41 is the second lifting rod, 42 is the flip shaft, 43 is the second lifting cylinder, 44 is the outbound pallet, 45 is the telescopic fork, and 46 is the support table one. DETAILED DESCRIPTION

[0016] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Embodiment 1

[0017] like Figure 1-12 As shown, an intelligent three-dimensional warehouse for angle steels has a rectangular structure as a whole. A number of inlets and outlets corresponding to a number of angle steel production lines are opened on one side in the length direction of the intelligent three-dimensional warehouse for angle steels, so that the corresponding angle steel raw materials can be classified and intelligently put into and out of the warehouse according to the different angle steel raw material demand characteristics of the several angle steel production lines, thereby improving production efficiency and reducing the area occupied by the workshop.

[0018] The angle steel intelligent stereoscopic warehouse comprises: a plurality of angle steel storage areas, a material unloading storage area 1, a stacking out storage area 4, an intelligent stacking out storage area 5 and an angle steel material frame buffer area 6. A plurality of angle steel stacks 2 are stored in the angle steel storage area, and a space manipulator 3 is arranged at the stacking out storage area 4 and the intelligent stacking out storage area 5. The material unloading storage area 1 and the angle steel material frame buffer area 6 are located at the angle steel storage end (one end in the width direction) of the intelligent stereoscopic warehouse and are arranged side by side. A plurality of angle steel material frames 9 are placed at the angle steel material frame buffer area 6, and all the angle steel material frames 9 involved in the angle steel material frame buffer area 6 are empty. The angle steel material frame 9 is a layered and split structure. The angle steel 8 can be placed on the angle steel material frame 9 in an inverted V shape or a positive V shape. After a layer of empty angle steel material frame 9 is filled with angle steels 8, the angle steel material frames 9 with angle steels 8 are stacked together layer by layer to form an angle steel stack 2, thereby realizing three-dimensional storage of the angle steels 8 to save space. The four corners of the angle steel material frame 9 are provided with locking mechanisms and limiting mechanisms to ensure the safety and stability of the angle steel stack 2.

[0019] A conveyor roller 10 is arranged outside the angle steel material frame buffer area 6 and the unloading storage area 1, and a plurality of space robots 7 are arranged above the angle steel material frame buffer area 6 and the unloading storage area 1. The space robot 7 is slidably mounted on the robot horizontal track and can move up and down. The conveying direction of the conveyor roller 10 is perpendicularly intersected with the horizontal moving direction of the space robot 7, so as to realize the three-dimensional movement of the angle steel material frame 9 and the angle steel 8. The space robot 7 is controlled by a control system, and the space robot 7 is controlled according to the control signal sent by the control system to grab the empty angle steel material frame 9, and move the empty angle steel material frame 9 to a designated position on the conveyor roller 10; then the space robot 7 grabs the angle steel 8 according to the control signal sent by the control system, and moves the angle steel 8 to a designated position on the angle steel material frame 9.

[0020] A limiting protrusion 12 is provided at the end of the conveying roller 10, and the limiting protrusion 12 can ensure that the angle steel material frame 9 finally stops at the specified position. A centering clamping mechanism 11 is provided on the conveying roller 10, and the centering clamping mechanism 11 includes a pair of clamping cylinders 13 and a pair of positioning baffles 14 arranged opposite to each other. The pair of positioning baffles 14 are movably installed on both outer sides of the length direction of the conveying roller 10 and can move horizontally. After the pair of positioning baffles 14 move horizontally into place, they can play a preliminary guiding role when the angle steel 8 is manually placed; the angle steel 8 that is initially placed is pushed by the piston rod end of the clamping cylinder 13, so that the angle steel 8 is finally in the center position of the angle steel material frame 9. A weight sensor is provided on the conveying roller 10 below the clamping cylinder 13, and the weight sensor is used to detect the weight of the upper angle steel 8. The conveyor roller 10 is provided with three position sensors, each corresponding to the position where the angle steel material frame 9 and the angle steel 8 are placed. By providing three position sensors, three groups of angle steel material frames 9 and angle steels 8 can be temporarily stored at one time, thereby improving the storage efficiency of the angle steels 8. The conveyor roller 10 adopts a chain transmission mechanism.

[0021] A depalletizing and outbound delivery bracket 17 of a rectangular frame structure is provided in the intelligent depalletizing and outbound delivery area 5. A pair of parallel racks 22 are fixedly provided at the edge positions at both ends of the width direction above the depalletizing and outbound delivery bracket 17. A pair of first gears 34 and a pair of second gears 23 are respectively meshed and transmission-connected with the racks 22 at both ends. A pair of first gears 34 are fixedly installed at both ends of the first rotating shaft 35, and a pair of second gears 23 are fixedly installed at both ends of the second rotating shaft 32. The middle of the first rotating shaft 35 is connected to the first reduction motor 31, and the middle of the second rotating shaft 32 is connected to the second reduction motor 24. The first reduction motor 31 is fixedly installed in the middle of the first connecting rod 33, and the second reduction motor 24 is fixedly installed in the middle of the second connecting rod 36. The first connecting rod 33 and the second connecting rod 36 are respectively slidably installed at both ends of the depalletizing and outbound delivery bracket 17 in the width direction, and the horizontal guide rails (or slide grooves) are located below the rack 22. The first cylinder group 15 and the second cylinder group 25 are fixedly mounted on the first connecting rod 33 and the second connecting rod 36, respectively. The first cylinder group 15 and the second cylinder group 25 are respectively located on the left side of the first reduction motor 31 and the second reduction motor 24. The first reduction motor 31 and the second reduction motor 24 drive the first rotating shaft 35 and the second rotating shaft 32 to rotate, respectively, thereby driving the pair of first gears 34 and the pair of second gears 23 to rotate, and the first cylinder group 15 and the second cylinder group 25 can be horizontally moved through the gear rack transmission structure.

[0022] The first cylinder group 15 includes more than two first lifting cylinders 37, which are evenly fixedly installed on the first connecting rod 33, and the movable end of the piston rod of the first lifting cylinder 37 is fixedly connected to the first lifting rod 38; the second cylinder group 25 includes more than two second lifting cylinders 43, which are evenly fixedly installed on the second connecting rod 36, and the movable end of the piston rod of the second lifting cylinder 43 is fixedly connected to the second lifting rod 41. A plurality of first electromagnets 16 are evenly installed on the first lifting rod 38, and a plurality of second electromagnets 21 are evenly installed on the second lifting rod 41. The lower end of the first electromagnet 16 is processed into an inverted V-shaped structure, and the lower end of the second electromagnet 21 is processed into a positive V-shaped structure. The first electromagnet 16 and the second electromagnet 21 are used to grab the angle steel 8. A first visual recognition device 39 is fixedly installed at one end of the first lifting rod 38, and a second visual recognition device 40 is fixedly installed at one end of the second lifting rod 41. The first electromagnet 16 is controlled to rise and fall vertically by the first cylinder group 15, and the second electromagnet 21 is controlled to rise and fall vertically by the second cylinder group 25. The first visual recognition device 39 and the second visual recognition device 40 are used to recognize the position and state of the angle steel 8. Since the angle steel stack is formed by the angle steels 8 being alternately stacked in a positive V shape and an inverted V shape, it is necessary to judge whether the angle steel 8 needs to be turned over when grasping.

[0023] Three outbound platforms 20 for placing angle steels 8 are evenly arranged at a certain distance on the right side of the length direction below the depalletizing and outbound bracket 17. After the spatial manipulator 3 grabs the angle steel material frame 9 storing the angle steel 8, it places the two ends of the angle steel 8 on a pair of adjacent outbound platforms 20. The angle steel material frame 9 falls from the space between the pair of outbound platforms 20 to the ground to prevent the angle steel material frame 9 from obstructing the outbound of the angle steel 8. Several receiving platforms are evenly and fixedly arranged at a certain distance on the left side of the length direction below the depalletizing and outbound bracket 17. A receiving tray 18 is placed above the receiving platform. The receiving tray 18 is used to store the flipped inverted V-shaped angle steel 8. The space between adjacent receiving platforms is convenient for the AGV vehicle to fork and take the receiving tray 18.

[0024] A flip platform 19 is fixedly arranged between the outbound platform 20 and the receiving platform, and a flip motor 26 is fixedly installed at the middle position of the upper end of the flip platform 19. The two ends of the flip motor 26 are connected to an extended flip shaft 42, and a flip frame 29 is fixedly installed at both ends of the flip shaft 42. A third electromagnet 30 is fixedly arranged above the flip frame 29. The two ends of the flip shaft 42 are rotatably installed in the flip seat together with the flip frame 29. The flip seat is fixedly installed above the two ends of the flip platform 19 in the length direction, and the flip shaft 42 and the flip frame 29 are driven to rotate by the flip motor 26. The third electromagnet 30 is a positive V-shaped structure. The third electromagnet 30 fixes the angle steel 8 placed on the flip frame 29 by magnetic attraction to prevent the angle steel 8 from falling during the flipping process. A placement table 27 is fixedly arranged on the left side of the upper end of the flip platform 19 in the length direction. The upper end of the placement table 27 is an inverted V-shaped convex structure for supporting the angle steel 8 after flipping. A detection sensor 28 is fixedly arranged on the turning platform 19 below the turning axis 42 . When the detection sensor 28 detects the upper angle steel 8 , it sends a signal to control the turning motor 26 to start turning the angle steel 8 .

[0025] Several support platforms 1 46 are evenly spaced and fixedly arranged on one side of the length direction of the whole stack outgoing warehouse area 4, and several support platforms 2 are evenly spaced and fixedly arranged on the other side of the length direction of the whole stack outgoing warehouse area 4. The outgoing warehouse pallet 44 is placed on the support platform 2, and a telescopic fork 46 is fixedly installed between the support platform 1 46 and the support platform 2. After the spatial manipulator 3 grabs the angle steel stack, it places the two ends of the angle steel stack on a pair of adjacent support platforms 1 46, and the angle steel material frame 9 falls from the space between the pair of support platforms 1 46 to the ground to prevent the angle steel material frame 9 from hindering the outgoing warehouse of the angle steel stack. The telescopic fork 46 can be telescoped to the front and rear ends, and is an existing equipment. The angle steel stack is placed from the support platform 1 46 to the outgoing warehouse pallet 44 by the telescopic fork 46 to complete the outgoing warehouse of the whole stack of angle steel. The space between the adjacent support platforms 2 is convenient for the AGV fork to take out the warehouse pallet 44. Embodiment 2

[0026] The intelligent control method of the angle steel intelligent stereoscopic warehouse described in the first embodiment comprises the following steps: Angle steel storage process: like Fig.13As shown, after the truck carrying the angle steel arrives, the control system of the angle steel intelligent stereoscopic warehouse is manually called to start the unloading module. After the space robot 7 is idle, the space robot 7 grabs the empty angle steel material frame 9 at the angle steel material frame buffer area 6, and the space robot 7 places the angle steel material frame 9 to the front end of the conveyor roller 10 by horizontal and up and down movement. When there is an empty angle steel material frame 9 at the front end of the conveyor roller 10 and the unloading at the rear end has been completed, the conveyor roller 10 starts to run, and the conveyor roller 10 conveys the angle steel material frame 9 to the rear end. When the angle steel material frame 9 touches the limit protrusion 12 at the rear end of the conveyor roller 10, the stop signal is triggered, and the conveyor roller 10 stops running. At this time, three empty angle steel material frames 9 are placed on the conveyor roller 10 at one time by the space robot 7. The angle steel incoming material information is manually input into the control system, and a pair of positioning baffles 14 located in the length direction of the conveyor roller 10 moves into place. The manual control crane lifts the bundled angle steel 8 from the truck and puts it into the angle steel material frame 9. The pair of positioning baffles 14 plays a preliminary limiting role in the manual placement of the angle steel 8. After the angle steel 8 is manually placed, a completion signal is manually sent to the control system. The control system controls the clamping cylinder 13 to clamp the angle steel 8, and the weight sensor automatically completes the weighing. If the weight of the angle steel 8 does not meet the preset requirements, the control system will alarm to prompt manual intervention. The position sensor detects that there is material at the loading station on the conveyor roller 10, and the control system controls the space robot 7 to grab the angle steel material frame 9 with the angle steel 8 and put it into the corresponding specification area in the unloading and storage area 1. The stored angle steel 8 is stacked and stored in the unloading and storage area 1 through the angle steel material frame 9. When the stacking height of the angle steel material frame 9 reaches the requirement, or a batch of angle steels 8 of the same specification are put into storage, the angle steel stack is finally transported to the corresponding angle steel storage area by the AGV vehicle.

[0027] Intelligent destacking and delivery process of angle steel: like Fig.14As shown, the control system controls the angle steel intelligent destacking and outbound delivery module to start. After the spatial manipulator 3 is idle, the spatial manipulator 3 grabs the angle steel material frame 9 with the angle steel 8, and places the two ends of the angle steel 8 on the adjacent outbound delivery platform 20. The adjacent outbound delivery platform 20 supports the two ends of the angle steel 8, and the angle steel material frame 9 slides down from the middle of the adjacent outbound delivery platform 20 to the ground. The first visual recognition device 39 and the second visual recognition device 40 judge the state of the angle steel 8. The angle steel 8 in the positive V-shaped state is grabbed by the second electromagnet 21 and placed on the third electromagnet 30 at the upper end of the flip frame 29. The detection sensor 28 sends a flip signal after detecting the angle steel 8. The third electromagnet 30 automatically magnetically fixes the angle steel 8. The flip motor 26 starts to flip the angle steel 8 to the top of the placement table 27 and stops. After the flip motor 26 stops, the third electromagnet 30 automatically cuts off the power. The flipped inverted V-shaped angle steel 8 is placed on the placement table 27. The flip motor 26 is reset. The first visual recognition device 39 recognizes the angle steel 8 on the placement table 27. The first electromagnet 16 grabs the flipped angle steel 8 and moves it to the top of the receiving tray 18 for stacking. The inverted V-shaped angle steel 8 is grabbed by the first electromagnet 16 and moved to the top of the receiving tray 18 for stacking. When the angle steel 8 is stacked on the receiving tray 18, the control system automatically accumulates the number of angle steels 8 shipped out of the warehouse. When the number of angle steels 8 reaches the required number for delivery, the receiving tray 18 is transported to the corresponding processing line by the AGV. The remaining angle steels 8 on the delivery platform 20 after depalletizing are grabbed by the spatial manipulator 3 and transported to the original storage location by the angle steel material frame 9.

[0028] The process of shipping out the whole stack of angle steel: like Fig.15 As shown, the control system controls the angle steel stack outbound module to start, and when the space manipulator 3 is idle, the space manipulator 3 grabs the outbound angle steel stack and places the two ends of the angle steel stack on the adjacent support platform 46. The adjacent support platform 46 supports the two ends of the angle steel stack, and the angle steel material frame 9 slides down from the middle of the adjacent support platform 46 to the ground until the angle steel stack is in place. After the space manipulator 3 puts down the angle steel stack, the telescopic fork 45 extends to the bottom of the angle steel stack to lift the angle steel stack, and the telescopic fork 45 transfers the angle steel stack to the outbound pallet 44, and then the telescopic fork 45 resets. When the space manipulator 3 is idle, the space manipulator 3 grabs the empty angle steel material frame 9 in the middle of the adjacent support platform 46. If the angle steel material frame buffer area 6 is full, the empty angle steel material frame 9 is placed in the original storage position; if there is a vacancy in the angle steel material frame buffer area 6, the empty angle steel material frame 9 is placed in the angle steel material frame buffer area 6.

[0029] In the embodiments of the present invention, technical features that are not described in detail are all existing technologies or conventional technical means and will not be described in detail here.

[0030] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them, and the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any technician familiar with the technical field can modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered within the protection scope of the present invention.

Claims

1. Angle steel intelligent stereoscopic warehouse, with several inlets and outlets corresponding to the angle steel production line on one side of the warehouse length direction, characterized by: include: There are an unloading storage area, an angle steel frame buffer area, a whole stack outbound storage area, an intelligent depalletizing and outbound storage area, a control system and several angle steel storage areas. A space manipulator is arranged above the whole stack outbound storage area and the intelligent depalletizing and outbound storage area. The unloading storage area and the angle steel frame buffer area are located at one end of the angle steel storage and are arranged side by side. Conveying rollers are arranged outside the angle steel frame buffer area and the unloading storage area. A centering clamping mechanism, a weight sensor and a position sensor are arranged on the conveying rollers. A space robot is arranged above the angle steel frame buffer area and the unloading storage area. The space manipulator and the space robot can move up and down and horizontally. The conveying direction of the conveying roller is perpendicular to the horizontal movement direction of the space robot. Several empty angle steel frames are placed in the angle steel frame buffer area. The angle steel frame is a layered and split structure. The intelligent depalletizing and outbound storage area is provided with an angle steel flipping mechanism, a material receiving tray and an outbound platform.

2. The angle steel intelligent stereoscopic warehouse according to claim 1 is characterized in that: The intelligent depalletizing and outbound delivery area is provided with a depalletizing and outbound delivery support with a rectangular frame structure, a pair of parallel racks are arranged at the edges at both ends in the width direction above the depalletizing and outbound delivery support, a pair of first gears and a pair of second gears are respectively meshed with the racks, a pair of first gears are installed at both ends of the first rotating shaft, and a pair of second gears are installed at both ends of the second rotating shaft, the first rotating shaft is connected to the first reduction motor, the second rotating shaft is connected to the second reduction motor, the first reduction motor is installed in the middle of the first connecting rod, and the second reduction motor is installed in the middle of the second connecting rod, the first connecting rod and the second connecting rod are slidingly connected at both ends of the depalletizing and outbound delivery support, more than two first lifting cylinders and more than two second lifting cylinders are evenly installed on the first connecting rod and the second connecting rod, the first lifting cylinder piston rod is connected to the first lifting rod, the second lifting cylinder piston rod is connected to the second lifting rod, a number of first electromagnets are evenly installed on the first lifting rod, and a number of second electromagnets are evenly installed on the second lifting rod, the lower end of the first electromagnet is an inverted V-shaped structure, and the lower end of the second electromagnet is a positive V-shaped structure.

3. The angle steel intelligent stereoscopic warehouse according to claim 2 is characterized in that: A first visual recognition device is installed at one end of the first lifting rod, and a second visual recognition device is installed at one end of the second lifting rod.

4. The angle steel intelligent stereoscopic warehouse according to claim 3 is characterized in that: A number of outbound platforms are evenly spaced on one side of the length direction below the depalletizing and outbound bracket, a number of material receiving platforms are evenly spaced on the other side of the length direction below the depalletizing and outbound bracket, a material receiving pallet is placed above the material receiving platform, and a turning platform is set between the outbound platform and the material receiving platform.

5. The angle steel intelligent stereoscopic warehouse according to claim 4 is characterized in that: A flip motor is installed in the middle position of the upper end of the flip platform, and the two ends of the flip motor shaft are connected to the extended flip shaft, and the two ends of the flip shaft are installed with a flip frame. A third electromagnet is arranged above the flip frame, and the third electromagnet is in a positive V-shaped structure. The two ends of the flip shaft are rotatably installed in the flip seat together with the flip frame, and the flip seat is installed above the two ends of the flip platform in the length direction. A placing table is arranged on one side of the length direction of the upper end of the flip platform, and the upper end of the placing table is an inverted V-shaped protrusion structure.

6. The angle steel intelligent stereoscopic warehouse according to claim 5 is characterized in that: A detection sensor is arranged on the flip platform below the flip axis.

7. The angle steel intelligent stereoscopic warehouse according to claim 1 is characterized in that: A limiting protrusion is arranged at the end of the conveying roller, and the centering clamping mechanism includes a pair of clamping cylinders and a pair of positioning baffles arranged opposite to each other. The pair of positioning baffles are movably installed on both outer sides of the length direction of the conveying roller, and a weight sensor is arranged on the conveying roller below the clamping cylinder.

8. The angle steel intelligent stereoscopic warehouse according to claim 1 is characterized in that: A number of support platforms 1 are evenly spaced on one side of the length direction of the whole stack outbound area, and a number of support platforms 2 are evenly spaced on the other side of the length direction of the whole stack outbound area. The outbound pallet is placed on the support platform 2, and a telescopic fork is installed between the support platform 1 and the support platform 2.

9. The intelligent control method of the angle steel intelligent stereoscopic warehouse is characterized by: The application of the angle steel intelligent stereoscopic warehouse as claimed in claim 1 comprises the following steps: Angle steel storage process: The space robot grabs the empty angle steel frame in the angle steel frame buffer area and places the angle steel frame at the front end of the conveyor roller. The conveyor roller transports the angle steel frame to the rear end and stops. The manual control crane lifts the angle steel from the truck and puts it into the angle steel frame. The centering clamping mechanism limits and clamps the angle steel. The weight sensor automatically completes the weighing. When the position sensor detects that there is material on the conveyor roller, the space robot grabs the angle steel frame with the angle steel and stores it in the area of ​​corresponding specifications in the unloading and storage area. Finally, the AGV vehicle transports the angle steel stack to the corresponding angle steel storage area. Intelligent depalletizing and outbound delivery process of angle steel: the spatial manipulator grabs the angle steel material frame with angle steel and places it on the outbound delivery platform. The inverted V-shaped angle steel is directly stacked on the receiving pallet. The positive V-shaped angle steel is flipped into an inverted V shape by the angle steel flipping mechanism and stacked on the receiving pallet. When the number of angle steels reaches the outbound delivery requirement, the receiving pallet is transported to the corresponding processing production line by the AGV vehicle. The process of angle steel stack outbound delivery: the spatial manipulator grabs the angle steel stack outbound and delivers it in a whole stack. The spatial manipulator grabs the empty angle steel material frame after the whole stack is delivered outbound. If the angle steel material frame buffer area is full, the empty angle steel material frame is placed in the original storage location, otherwise the empty angle steel material frame is placed in the angle steel material frame buffer area.

10. The intelligent control method for the angle steel intelligent stereoscopic warehouse according to claim 9 is characterized in that: When the angle steels are put into storage, the incoming material information of the angle steels is manually input into the control system. If the weight of the angle steels does not meet the preset requirements, an alarm prompts manual intervention. When the angle steels are intelligently destackered and shipped out of the warehouse, the spatial robot grabs the angle steel material frame and transports the remaining angle steels on the shipping platform after destacking to the original warehouse location.

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