Automatic stereoscopic warehouse for steel pipes

Abstract

A branch pipe feeding platform is arranged on the feeding side of a three-dimensional goods shelf, an unpowered roller way is arranged on the branch pipe feeding platform, a pipe overturning device and a length measuring propelling device are installed above the unpowered roller way, a specification rechecking device is installed at the end of a pipe warehousing conveying line, a stepping device is a chain conveying line, and a conveying device is installed on the chain conveying line. The rack is arranged below the three-dimensional rack; a shelf side lifting platform cantilever is laterally hung on the outer side of the three-dimensional shelf, and a pipe storage tray is placed on the shelf side lifting platform; and the electric control system is connected with the unpowered roller way, the pipe turning device, the length measurement propelling device, the specification rechecking device, the stepping device and the goods shelf side lifting platform and used for conveying the pipes to required stations according to requirements under the control of a PLC (Programmable Logic Controller) so as to finish warehouse-in and warehouse-out. Full-automatic warehouse-out, warehouse-in and storage management of the raw material pipes is achieved, and unmanned operation of the whole raw material pipe long-term storage warehouse is achieved.

Description

Technical Field

[0001] The invention relates to automated warehousing logistics, and in particular to an automated steel pipe stereoscopic warehouse. Background Art

[0002] At present, the facilities of domestic raw material pipe storage warehouses are backward, and the level of informatization and intelligence is low. The existing raw material pipe storage warehouses use traditional fixed shelves as storage shelves. The specifications of raw material pipes need to be manually identified by operators, and then the operators manually operate the transportation equipment to complete the pipe in and out of the warehouse. This fully manually operated pipe storage system is not only inefficient and wastes labor costs, but also has safety risks, and it is difficult to adapt to the needs of actual work. Therefore, it is necessary to use modern and intelligent equipment to replace the original manual operation, and to use a steel pipe automated stereoscopic warehouse that can complete the storage and retrieval of raw material pipes in a timely, accurate and efficient manner. Summary of the invention

[0003] The purpose of the present invention is to provide a steel pipe automated stereoscopic warehouse that uses modern and intelligent equipment to replace the original manual operation and can complete the raw material pipe storage and retrieval operations in a timely, accurate and efficient manner in order to address the above-mentioned shortcomings of the existing raw material pipe long-term storage warehouses.

[0004] To achieve its purpose, the present invention is implemented through the following technical solutions: an automated three-dimensional warehouse for steel pipes, including a divided loading platform, a non-powered roller, a pipe turning device, a length measuring and pushing device, a specification review device, a stepping device, a three-dimensional shelf, a shelf side lifting platform, a custody tray, a powered conveying roller and an electric control system. The divided loading platform is arranged on the feeding side of the three-dimensional shelf, and a non-powered roller and a pipe turning device are provided on the divided loading platform. The length measuring and pushing device is installed above the non-powered roller, and the specification review device is installed at the end of the pipe storage conveying line. The stepping device is a chain conveying line, which is arranged below the three-dimensional shelf and is used to continue to convey the steel pipes that meet the storage conditions to the powered conveying roller; the cantilever side of the shelf side lifting platform is hung on the outside of the three-dimensional shelf, and a custody tray is placed on the shelf side lifting platform; the electric control system is connected to the non-powered roller, the pipe turning device, the length measuring and pushing device, the specification review device, the stepping device, and the shelf side lifting platform, and is used to convey the pipes to the required workstations as required under the control of PLC to complete the storage and warehousing.

[0005] Furthermore, the three-dimensional shelf is a frame structure with multi-layer storage tray drawers that can store multiple custody trays. Each custody tray is placed in the storage tray drawer, on a non-powered roller conveyor, and is passively fed in and out.

[0006] Furthermore, the custody tray has a frame structure and can move forward and backward on the powered rollers inside and outside the drawer slot. It is equipped with a V-shaped groove inside for placing pipes of various specifications. Four wheels are installed on both sides of the custody tray. When the custody tray is pulled and pushed, the wheels roll on the track, realizing the function of the custody tray entering and exiting the three-dimensional shelf and the shelf side lifting platform.

[0007] Furthermore, the specification verification device verifies the outer diameter and wall thickness of the steel pipe by photographing.

[0008] Furthermore, the feeding platform has a three-stage chain row, wherein a number of pipes with similar outer diameters are placed on the first-stage chain row of the feeding platform, and the third-stage chain row is connected to the conveying chain mechanism and the driving mechanism, and the speed difference of the third-stage chain row is used to divide the pipes, increase the distance between the pipes, and deliver the pipes to the subsequent process links; the conveying chain mechanism is divided into three levels, with the same speed in each stage and an increase in speed between stages, and is composed of a bearing seat, a shaft, a transmission sprocket, a transmission chain, and fasteners; the driving mechanism is composed of a reduction motor, a transmission chain, a driving sprocket group, and fasteners, and the reduction motor is connected to the transmission chain through the driving sprocket group, and the increase in speed by stage is achieved through the difference in the number of driving sprocket teeth.

[0009] Furthermore, the frame of the unpowered roller is welded from profiles, and all the moving pairs, ramps and blocking units are installed or welded on the frame; the unpowered roller is composed of a bearing seat and a V-shaped roller installed in the bearing seat; one side of the powered conveying roller is connected to the stepping device, and the other side is provided with a protective wing to prevent the steel pipe from falling.

[0010] The length measuring and propulsion device includes a reduction motor, gears, racks, a pusher head, a frequency converter, an encoder, and a photoelectric switch. The reduction motor is connected to the rack through the gear, and the rack is connected to the pusher head. The pusher head is placed on the running track, and corresponding guide rollers are arranged in each direction. The gear is driven by the reduction motor to rotate, and the gear and rack are engaged to realize the advancement of the pusher head, and then the pusher head pushes the pipe forward on the unpowered roller. The reduction motor is connected to the frequency converter, and the running speed is controlled by the frequency converter. The encoder is used to detect the running distance of the pusher head, and the photoelectric switch is used to detect the head of the pipe. Finally, after the pipe is pushed into place, a subtraction operation is performed to obtain the actual length of the pipe for system review.

[0011] Furthermore, the tube turning device is composed of a tube turning reduction motor, gears, a turning gear and a V-shaped roller. The tube turning reduction motor is connected to the turning gear through gear meshing, and the V-shaped roller is fixedly connected to the rotating shaft of the turning gear.

[0012] Furthermore, the shelf side lifting platform has a lifting platform, a pallet pushing and pulling mechanism, and a pipe lifting and traveling mechanism. The pipe lifting and traveling mechanism is installed on the lifting platform platform, above the pallet, and can move horizontally with the lifting platform. The lifting platform can be aligned with each drawer of the shelf to carry out pallet entry and exit operations; the pallet pushing and pulling mechanism is used to hang the pallet in the drawer and send it in and out; the shelf side lifting platform is equipped with lifting guide wheels at the four corners for completing the lifting action on the inner side of the three-dimensional shelf column, and the pipe lifting and traveling mechanism adopts wire rope hoist for lifting, and the hook opens and closes left and right. After taking and placing the pipe, the wire rope rises and falls, and the entire beam can be positioned in two positions as required, and the lifting operation of the pipe is completed in combination with the platform lifting; after the shelf side lifting platform lifts the pipe to the designated shelf level, the pushing and pulling device completes the pushing and pulling operation of the storage pallet.

[0013] Furthermore, the electric control system uses PLC as the main control system, which is responsible for the control of all equipment in the system. The operation of all equipment is automatically controlled, and the system has an automatic / manual switching function.

[0014] The beneficial effects of the present invention are:

[0015] 1. Tightly integrate the warehouse management system, PLC automatic control system, and leading automated logistics equipment and warehousing equipment in various industries to automatically identify, screen, transport, and access raw material pipes. Fully automated outbound, inbound, and storage management of raw material pipes is achieved, making the entire long-term storage warehouse for raw material pipes unmanned;

[0016] 2. The daily (8h) processing capacity of raw material pipes in and out of the warehouse can reach 320 pieces, which greatly improves the work efficiency;

[0017] 3. Automatically controlled storage and warehousing equipment replaces manual operation, and photoelectric switches and visual recognition systems replace manual identification and verification of pipe information, which significantly reduces the labor intensity of operators and improves the safety of raw material pipes in and out of the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic elevation diagram of the steel pipe automated warehouse in an embodiment of the present invention;

[0019] Figure 2 It is a schematic elevation diagram of a feeding platform in charge of an embodiment of the present invention;

[0020] Figure 3 Schematic diagram of the structure of the unpowered roller conveyor in an embodiment of the present invention;

[0021] Figure 4 is a schematic elevation view of a length measuring propulsion device in an embodiment of the present invention;

[0022] Figure 5is a schematic elevation view of a tube turning device in an embodiment of the present invention;

[0023] Figure 6 is a schematic elevation view of a stepping device in an embodiment of the present invention;

[0024] Figure 7 It is a schematic elevation diagram of a power conveying roller conveyor in an embodiment of the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the shelf side lifting platform in an embodiment of the present invention;

[0026] Fig. 9 It is a front view of the structure of the hoisting and lifting crane system in an embodiment of the present invention;

[0027] Fig.10 It is a top view of the structure of the hoisting and lifting crane system in an embodiment of the present invention;

[0028] Fig.11 It is a front view of the storage tray structure in an embodiment of the present invention;

[0029] Fig.12 A top view of the storage tray structure in an embodiment of the present invention;

[0030] In the figure: 1. Feeding platform; 2. Non-powered roller; 3. Tube turning device; 4. Length measuring and propulsion device; 5. Specification verification device; 6. Stepping device; 7. Three-dimensional shelf; 8. Shelf side lifting platform; 9. Storage tray; 10. Power conveying roller; 1-1. Frame; 1-2. Conveying chain mechanism; 1-3. Driving mechanism; 2-1. Frame; 2-2. Bearing seat; 2-3. V-shaped roller; 3-1. Turning gear; 3-2. V-shaped roller; 3-3. Tube turning reduction motor. DETAILED DESCRIPTION

[0031] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0032] like Figure 1 As shown, the present invention provides an automated three-dimensional warehouse for steel pipes, which is mainly composed of a feeding platform 1, a non-powered roller conveyor 2, a pipe turning device 3, a length measuring and propulsion device 4, a specification review device 5, a stepping device 6, a three-dimensional shelf 7, a shelf side lifting platform 8 (including a lifting platform, a pallet pushing and pulling mechanism, a pipe lifting and traveling mechanism, etc.), a storage pallet 9, a powered conveying roller conveyor 10 and an electronic control system.

[0033] The sub-loading platform 1 is arranged on the feeding side of the three-dimensional shelf 7, and is provided with a non-powered roller 2 and a pipe turning device 3. The length measuring and propulsion device 4 is installed above the non-powered roller 2, and the specification verification device 5 is installed at the end of the pipe storage conveyor line. The stepping device 6 is a chain conveyor line, which is arranged under the three-dimensional shelf 7 and is used to continue to convey the steel pipes that meet the storage conditions to the powered conveying roller 10; the shelf side lifting platform 8 is cantilevered and hung on the outside of the three-dimensional shelf 7, and a storage tray 9 is placed on the shelf side lifting platform 8.

[0034] Each device mechanism, under the control of PLC, runs the program and has limit protection, so that the pipes can be transported to the workstations required by the system as required, completing the warehousing and outbound processes.

[0035] The function of the steel pipe automatic stereoscopic warehouse of the present invention is to complete the identification, storage and transportation of raw pipes. Storage pipe specifications: diameter (outer diameter): Φ48-Φ219 wall thickness: 3-15mm; length: 1000-12000m; weight: ≤1000 kg / piece material: carbon steel and stainless steel storage number: 64 pieces.

[0036] The pipes are manually placed on the batch storage platform and laid neatly. The equipment uses the speed difference to open the distance between the pipes, and the pipes enter the stepping device one by one until all units of the conveyor chain mechanism on the platform are fully covered. The maximum storage capacity is about 20 pipes. The conveyor chain mechanism finally intersects with the outbound V-shaped stick conveyor line, and a baffle is set to ensure that the pipes fall smoothly into the V-shaped stick conveyor line. Embedded in the head of the stepping feeding device is a lifting conveyor line, which lifts the pipe and runs it to the same position of the head for specification measurement. If it is qualified, the line body drops, and the stepping mechanism continues to send the pipe forward. If it is unqualified, it does not drop and is directly sent to the outbound line and enters the outbound platform.

[0037] The three-dimensional shelf 7 is a frame structure with a total height of about 6.5 meters, a width of about 13.2 meters, and a thickness of 3.2 meters. It has 8 layers of storage tray drawers, which can store 8 pallets. Each pallet is placed in the drawer on a non-powered roller and is passively fed in and out. Among them, each pallet can store 8 pipes, and the shelf pipe storage capacity is 64. The three-dimensional shelf 7 is equipped with an integral chassis to disperse gravity to meet the ground bearing requirements. The bottom of the three-dimensional shelf 7 is raised, and the feeding platform passes through the space below to increase the platform storage capacity.

[0038] The shelf side lifting platform 8 is cantilevered and hung on the outside of the three-dimensional shelf 7. It has a frame structure and its dimensions (approximately) are: 13 meters wide, 1.8 meters high, and 4.6 meters deep. There are three actions:

[0039] (1) Lifting and lowering, it can be aligned with each drawer slot of the shelf to carry out pallet loading and unloading operations.

[0040] (2) A tray receiving and delivering power device can hook the tray in the drawer slot and deliver it in and out.

[0041] (3) The pipe hoisting crane is installed on the platform, above the pallet, and rises and falls with it, and can move horizontally. When the pipes are out of the warehouse, the pallet is pulled out, and the designated pipe storage unit on it is aligned with the pipe hoisting device. The device directly lifts the pipe in the unit, and the pallet returns immediately. The pipe hoisting crane moves horizontally to the position according to the instructions, and puts the pipes down to the conveyor line, and the pipes are out of the warehouse. The opposite is true for entering the warehouse.

[0042] There are 8 sets of trays in total, with a frame structure. They can move forward and backward on the powered rollers inside and outside the drawer slots. There are 8 V-shaped grooves inside, which can hold pipes of various specifications.

[0043] The specification verification device 5 for pipe diameter, wall thickness and length is installed at the end of the pipe storage conveyor line. The outer diameter and wall thickness are verified by photography. After the verification parameters are correct, the next step of the process is automatically entered. If the verification is wrong, the system alarms and manual intervention is required.

[0044] The feeding platform 1 is divided into three-level chains. Several pipes with similar outer diameters are manually placed on the first-level chain of the feeding platform. The speed difference of the three-level chain is used to divide the pipes, increase the distance between the pipes, and send the pipes to the subsequent process links.

[0045] The frame 1-1 of the feeding platform 1 is welded from profiles, and all the kinematic pairs are installed thereon.

[0046] The conveyor chain mechanism 1-2 is divided into three levels, with the same speed in each level and increasing speed between levels. It is composed of bearing seats, shafts, transmission sprockets, transmission chains, fasteners and other parts. The drive mechanism 1-3 is driven by a reduction motor with a chain drive, and the speed is increased by levels through the difference in the number of teeth of the drive sprockets. It is composed of a reduction motor, a transmission chain, a drive sprocket group, fasteners and other parts (see Figure 2 ).

[0047] The single pipe rolling down from the feeding platform 1 falls onto the single-row unpowered roller conveyor 2 through the ramp and the blocking link, and is ready for the subsequent pipe delivery process link.

[0048] The frame 2-1 of the unpowered roller table 2 is welded from profiles, and all the moving parts, ramps and blocking units are installed or welded on the frame.

[0049] The unpowered roller table 2 is composed of a bearing seat 2-2, a V-shaped roller 2-3 and other parts (see Figure 3 ).

[0050] After the pipe falls onto the unpowered roller conveyor 2, the length measuring propulsion device 4 pushes the pipe forward along the unpowered roller conveyor 2 to enter the subsequent process. The length measuring propulsion device 4 is located above the unpowered roller conveyor 2. While completing the propulsion process, the length of the pipe is calculated based on the travel distance of the pusher head and the sensor signal. During the propulsion process, in order to coordinate the stable operation of the previous and next processes, the length measuring propulsion device 4 can reasonably allocate the propulsion speed so that all large and small pipes can move forward smoothly, and during the entire propulsion process, the pusher head and the rear end face of the pipe are in contact and do not separate. After the length measuring propulsion device 4 pushes the steel pipe to the stop position, the visual system of the specification review device 5 will review the wall thickness and diameter of the steel pipe, and enter the data into the storage system to facilitate subsequent warehousing.

[0051] When the length measuring and propulsion device 4 is working, the driving reduction motor drives the gear to rotate, and the gear rack meshes to realize the push head to move forward, and then the push head pushes the pipe forward on the non-powered roller 2. The speed reduction motor is controlled by frequency conversion, the encoder side push head runs the distance, and the photoelectric switch detects the head of the pipe. Finally, after it is pushed into place, a subtraction operation is performed to obtain the actual length of the pipe for system review. The running track of the push head is I-beam. During operation, corresponding guide rollers are set in each direction to ensure smooth operation and low noise (see Figure 4 ).

[0052] The tube turning device 3 is composed of a tube turning reduction motor 3-3, gears, a turning gear 3-1 and a V-shaped roller table 3-2 (see Figure 5 ), the tube turning reduction motor 3-3 is connected to the turning gear 3-1 through gear meshing, and the rotating shaft of the turning gear 3-1 is fixedly connected to the V-shaped roller 3-2.

[0053] The steel pipe enters the pipe turning device 3 from the length measuring propulsion device 4. After the control system makes a judgment, it starts the pipe turning reduction motor to drive the V-shaped roller without the pipe turning device 3 to turn to both sides in an orderly and stable manner as required, so that the steel pipes that do not meet the storage conditions enter the pipe withdrawal platform, and the steel pipes that can be stored enter the stepping device 6.

[0054] The steel pipes that meet the storage conditions enter the stepping device 6 from the tube turning device 3. The stepping device 6 is a chain conveyor line, which is arranged under the three-dimensional shelf 7. The function is to continue to convey the steel pipes that meet the storage conditions to the power conveying roller 10. The stepping device 6 can be operated automatically or manually ( Figure 6 ).

[0055] After the steel pipe enters the power conveyor roller 10, it automatically rotates forward and backward according to the control requirements. It can be directly sent to the steel pipe cutting unit, or it can be sent to the center for storage. One side of the power conveyor roller 10 is connected to the stepping device 6, and the other side is provided with a protective wing to prevent the steel pipe from falling (see Figure 7 ).

[0056] The steel pipe is transported to the center by the power conveyor roller 10 and waits to be put into storage. At this time, the shelf side lifting platform 8 descends, and the four corners of the shelf side lifting platform 8 are equipped with lifting guide wheels (see Figure 8 ), the lifting action is completed on the inside of the 7 columns of the three-dimensional shelf, the pallet push-pull mechanism, and the lifting and hoisting system operate inside it. The final placement of the pipes is completed by the lifting and hoisting system (see Fig. 9 , Fig.10 There are two cranes on each side. The wire rope hoist is raised and lowered, and the hook is opened and closed on the left and right. After taking and placing the pipe, the wire rope is raised and lowered. The entire beam has a translation function and can be positioned in two positions according to requirements. Combined with the platform lifting, the lifting operation of the pipe is completed.

[0057] After the shelf side lifting platform 8 lifts the pipe to the designated shelf level, the push-pull device completes the push-pull operation of the storage tray 9. The storage tray 9 is a welded part with a V-shaped bracket inside, which can store up to 8 round pipes and a maximum load of 8 tons (see Fig.11 , Fig.12 ). Four running wheels are installed on both sides of the storage tray 9. When the storage tray 9 is pulled and pushed, the running wheels roll on the track to realize the function of the storage tray 9 entering and exiting the three-dimensional shelf 7 and the shelf side lifting platform 8. At this point, the automatic storage operation of the raw material pipes is completed, and the automatic outbound operation of the raw material pipes is reversed.

[0058] The pipe warehouse system control is a control system with PLC as the main host, which is responsible for the control of all equipment in the system. The operation of all equipment is automatically controlled, and the system has automatic / manual switching function.

[0059] The control system host uses a Siemens programmable logic controller (PLC).

[0060] The main equipment of the electric control system includes: control cabinet, operating table, emergency stop button box, photoelectric switch, proximity switch, magnetic switch, signal light and buzzer alarm, etc. The main components are imported or joint venture products.

[0061] The system has an operation fault alarm function; when the equipment is in operation or when a fault occurs, the system sets corresponding sound and light signals to remind users to pay attention to safety and fault reminders.

[0062] By integrating with the BCS system, the pipe information (diameter, wall thickness, length and material) is obtained, and the warehouse management system automatically allocates and memorizes the incoming cargo location. The equipment automatically sends the pipe from the incoming conveyor line to the designated cargo location for temporary storage. The pipe outbound is also controlled by the warehouse management system receiving the outbound instruction issued by the BCS system, and the control equipment automatically takes out the pipe from the designated cargo location and outputs it to the outbound conveyor line. The outbound conveyor line can be automatically connected with the subsequent process equipment.

Claims

1. A steel pipe automated three-dimensional warehouse, characterized by: It includes a dedicated loading platform, a non-powered roller, a pipe turning device, a length measuring and pushing device, a specification review device, a stepping device, a three-dimensional shelf, a shelf side lifting platform, a custody tray, a powered conveying roller and an electronic control system. The dedicated loading platform is arranged on the feeding side of the three-dimensional shelf. The dedicated loading platform is provided with a non-powered roller and a pipe turning device. The length measuring and pushing device is installed above the non-powered roller. The specification review device is installed at the end of the pipe storage conveying line. The stepping device is a chain conveying line, which is arranged under the three-dimensional shelf and is used to continue to convey the steel pipes that meet the storage conditions to the powered conveying roller. The cantilever side of the shelf side lifting platform is hung on the outside of the three-dimensional shelf, and a custody tray is placed on the shelf side lifting platform. The electronic control system is connected with the non-powered roller, the pipe turning device, the length measuring and pushing device, the specification review device, the stepping device and the shelf side lifting platform, and is used to convey the pipes to the required workstations as required under the control of PLC to complete the storage and warehousing.

2. The steel pipe automated warehouse according to claim 1, characterized in that: The three-dimensional shelf is a frame structure with multi-layer storage pallet drawers that can store multiple custody pallets. Each custody pallet is placed in the storage pallet drawer and on a non-powered roller conveyor for passive delivery.

3. The steel pipe automated warehouse according to claim 2, characterized in that: The custody tray has a frame structure and can move forward and backward on the powered rollers inside and outside the drawer slot. It has a V-shaped groove inside for placing pipes of various specifications. Four wheels are installed on both sides of the custody tray. When the custody tray is pulled and pushed, the wheels roll on the track, enabling the custody tray to enter and exit the three-dimensional shelf and the shelf side lifting platform.

4. The steel pipe automated warehouse according to claim 1, characterized in that: The specification verification device uses photography to verify the outer diameter and wall thickness of the steel pipe.

5. The steel pipe automated high-bay warehouse according to claim 1, characterized in that: The feeding platform is equipped with a three-stage chain row, wherein a number of pipes with similar outer diameters are placed on the first-stage chain row of the feeding platform; the third-stage chain row connects the conveying chain mechanism and the driving mechanism, and utilizes the speed difference of the three-stage chain row to divide the pipes, increase the distance between the pipes, and deliver the pipes to the subsequent process links; the conveying chain mechanism is divided into three stages, with the same speed in each stage and increasing speed between stages, and is composed of a bearing seat, a shaft, a transmission sprocket, a transmission chain, and fasteners; the driving mechanism is composed of a reduction motor, a transmission chain, a driving sprocket group, and fasteners; the reduction motor is connected to the transmission chain through the driving sprocket group, and the speed increase is achieved by the difference in the number of driving sprocket teeth.

6. The steel pipe automated high-bay warehouse according to claim 1, characterized in that: The frame of the unpowered roller is welded from profiles, and all the moving pairs, ramps and blocking units are installed or welded on the frame; the unpowered roller consists of a bearing seat and a V-shaped roller installed in the bearing seat; one side of the powered conveying roller is connected to the stepping device, and the other side is provided with a protective wing to prevent the steel pipe from falling.

7. The steel pipe automated high-bay warehouse according to claim 1, characterized in that: The length measuring and propulsion device includes a reduction motor, gears, racks, a pusher head, a frequency converter, an encoder, and a photoelectric switch. The reduction motor is connected to the rack through the gear, and the rack is connected to the pusher head. The pusher head is placed on the running track, and corresponding guide rollers are arranged in each direction. The gear is driven by the reduction motor to rotate, and the gear and rack are engaged to realize the advancement of the pusher head, and then the pusher head pushes the pipe forward on the unpowered roller. The reduction motor is connected to the frequency converter, and the running speed is controlled by the frequency converter. The encoder is used to detect the running distance of the pusher head, and the photoelectric switch is used to detect the head of the pipe. Finally, after the pipe is pushed into place, a subtraction operation is performed to obtain the actual length of the pipe for system review.

8. The steel pipe automated high-bay warehouse according to claim 1, characterized in that: The tube turning device is composed of a tube turning reduction motor, gears, a turning gear and a V-shaped roller. The tube turning reduction motor is connected to the turning gear through gear meshing, and the rotating shaft of the turning gear is fixedly connected to the V-shaped roller.

9. The steel pipe automated high-bay warehouse according to claim 1, characterized in that: The lifting platform on the shelf side has a lifting platform, a pallet push-pull mechanism, and a pipe lifting and traveling mechanism. The pipe lifting and traveling mechanism is installed on the lifting platform, above the pallet, and can move horizontally with the lifting platform. The lifting platform can be aligned with each drawer slot of the shelf to carry out pallet in and out operations. The pallet pushing and pulling mechanism is used to hang the pallet in the drawer slot and send it in and out; the four corners of the shelf side lifting platform are equipped with lifting guide wheels, which are used to complete the lifting action on the inside of the three-dimensional shelf column. The pipe lifting and traveling mechanism adopts wire rope hoist for lifting, and the hook opens and closes left and right. After taking and placing the pipe, the wire rope is raised and lowered, and the entire beam can be positioned in two positions as required, and the lifting operation of the pipe is completed in combination with the platform lifting; after the shelf side lifting platform lifts the pipe to the designated shelf level, the pushing and pulling operation of the storage pallet is completed by the pushing and pulling device.

10. The steel pipe automated high-bay warehouse according to claim 1, characterized in that: The electric control system uses PLC as the main control system, which is responsible for the control of all equipment in the system. The operation of all equipment is automatically controlled, and the system has automatic / manual switching function.

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