Intelligent path planning cross stacking and hoisting method and system for deformed steel bar storage

Abstract

The invention discloses an intelligent path planning cross stacking and hoisting method and system for deformed steel bar storage, and relates to the technical field of intelligent warehousing, and the method comprises the following steps: constructing a deformed steel bar bundle vertical cross stacking driving and stability pre-verification framework; the layer-by-layer stacking state of the deformed steel bar bundles and the stacking positions corresponding to the layers of the deformed steel bar bundles are planned; according to the stacking drive and the stability pre-verification framework, the stacking state of the deformed steel bar bundles is adjusted; the stacking state of the deformed steel bar bundle continues to be verified according to the stacking drive and the stability pre-verification framework of the stacking drive; and the multiple sets of deformed steel bar bundles are continuously driven through the stacking drive and the stability pre-verification framework to complete the overall stacking process. The technical problem that in the prior art, when vertical crossing stacking of deformed steel bar bundles depends on manual control hoisting, the bearing capacity is difficult to accurately and evenly distribute, and consequently the stacking has the potential safety hazard of collapse is solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to an intelligent path planning cross-stacking and lifting method and system for rebar warehousing. Background Art

[0002] At present, in the field of warehousing and logistics operations, rebar, as a commonly used building material and industrial raw material, is usually stored in bundles. In the prior art, the lifting and stacking operations of bundled rebars mainly rely on manually controlled lifting equipment, and for the stacking of bundled rebars after lifting, the order of stacking single bundles step by step is generally adopted, and finally the whole stack is placed in a vertical cross shape.

[0003] However, this traditional stacking method has obvious defects, which are mainly manifested in: Due to reliance on manual operation, it is difficult to accurately control the stacking orientation during the stacking process, resulting in incorrect stacking orientation of the upper rebar bundles. The incorrect orientation will directly lead to uneven and unstable bearing capacity distribution of the upper rebar bundles. At the same time, combined with the local deformability of the lower rebar bundles after compression, there is a possibility of causing the collapse of the rebar bundle stack during long-term storage or external interference, thus posing a serious safety hazard, which not only threatens the personal safety of the operators, but also easily causes damage to the rebar materials and economic losses. Summary of the invention

[0004] To this end, the present invention provides an intelligent path planning cross-stacking and lifting method and system for rebar storage, so as to solve the technical problem in the prior art that vertical cross-stacking of rebar bundles is difficult to accurately and evenly distribute the bearing capacity when relying on manual lifting, resulting in the potential safety hazard of stacking collapse.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: An intelligent path planning cross stacking and lifting method for rebar storage includes the following steps: Construct a pre-verified architecture for the vertical cross stacking drive of rebar bundles and their stability; Plan the stacking status of rebar bundles layer by layer and their corresponding stacking positions for each layer; Adjust the stacking status of rebar bundles according to the stacking drive and its stability pre-verification architecture; Continue to verify the stacking status of rebar bundles based on the stacking drive and its stability pre-verification architecture; Based on the planned stacking status and stacking position of the rebar bundles layer by layer, the stacking drive and its stability pre-verification architecture are used to drive several groups of rebar bundles to complete the overall stacking process.

[0006] On the basis of the above technical solution, the present invention is further described as follows: As a further embodiment of the present invention, The construction of the vertical cross stacking drive of the rebar bundle and the stability pre-verification architecture thereof specifically includes: A basic support frame structure is provided, the basic support frame structure includes a drive shift seat, a telescopic support rod, a transfer drive seat, a first bearing platform and a second bearing platform; The driving shift seat is transmission-assembled on the XY direction and the rotating driving platform, so as to correspond to the flexible shift and indexing in the XY direction; the base of the telescopic support rod is rotatably assembled on the driving shift seat, and the telescopic driving end of the telescopic support rod is connected to the base of the indexing driving seat by a transmission assembly, and the rotating driving end of the indexing driving seat is respectively connected to the transmission assembly between the first bearing platform and the second bearing platform, and the second bearing platform is parallelly located at the lower position of the first bearing platform, forming an elevated telescopic bearing platform; The grabbing and shifting structure is assembled on the bottom end surface of the first bearing platform, and the grabbing and shifting structure includes front and rear lead screw assemblies, a first bidirectional lead screw assembly, a main lifting push rod, a driving turntable and an extending transfer arm; There are two groups of front and rear screw assemblies, and the base parts of the two groups of front and rear screw assemblies are respectively fixedly arranged on the bottom end surface of the first bearing platform, and the two groups of front and rear screw assemblies have a linear kinetic energy output end portion along the front and rear direction; the base part of the first bidirectional screw assembly is connected to the linear kinetic energy output end portions of the two groups of front and rear screw assemblies by transmission assembly, and the first bidirectional screw assembly has two linear kinetic energy output end portions, and the two linear kinetic energy output end portions of the first bidirectional screw assembly face in opposite directions and are both perpendicular to the linear kinetic energy output direction of the front and rear screw assemblies; two groups of main lifting push rods, driving turntables and extended transfer arms are each provided with two groups, and the base parts of the two groups of main lifting push rods are respectively correspondingly transmission assembled on the two linear kinetic energy output end portions of the first bidirectional screw assembly, and the linear kinetic energy output end portions of the two groups of main lifting push rods are respectively correspondingly transmission assembled on the base parts of the two groups of driving turntables, and the two groups of extended transfer arms are respectively correspondingly transmission assembled on the rotational kinetic energy output end portions of the two groups of driving turntables; Two groups of bundle grabbing structures are provided, and each group of bundle grabbing structures includes a grabbing lifting push rod and a pneumatic clamping claw assembly; the base parts of the two groups of grabbing lifting push rods are respectively fixedly assembled on one side of the bottom end of the two groups of extended transfer arms, and the base parts of the two groups of pneumatic clamping claw assemblies are respectively fixedly assembled on the linear kinetic energy output ends of the two groups of grabbing lifting push rods; The positioning bottom support structure is assembled on the top surface of the second bearing platform, and the positioning bottom support structure includes a second bidirectional screw rod assembly and a bottom support seat body; the base of the second bidirectional screw rod assembly is fixedly connected to the top surface of the second bearing platform, and the second bidirectional screw rod assembly has two linear kinetic energy output ends, the two linear kinetic energy output ends of the second bidirectional screw rod assembly are in opposite directions and correspond one to one with the same direction as the two linear kinetic energy output ends of the first bidirectional screw rod assembly; two groups of bottom support seats are provided, and the two groups of bottom support seats are respectively and one to one transmission-fixedly connected to the two linear kinetic energy output ends of the second bidirectional screw rod assembly; A plurality of groups of morphological recognition structures are provided, through which the current operation progress and the current state of the threaded steel bundle when it is statically placed on the positioning support structure are recognized and monitored.

[0007] As a further embodiment of the present invention, The construction of the vertical cross stacking drive of the rebar bundle and the stability pre-verification architecture thereof specifically includes: Two groups of bundle transfer structures are provided, and the two groups of bundle transfer structures are respectively installed on the top surface of the second bearing platform in an opposite manner, and each group of bundle transfer structures includes a push-pull transfer component and an electric-controlled clamping chuck; The push-pull transfer assembly is fixedly mounted on the top surface of the second bearing platform, and the push-pull transfer assembly has linear kinetic energy and rotational kinetic energy output ends which are sequentially transmitted and connected; The base of the electric-controlled clamping chuck is fixedly mounted on the linear kinetic energy and rotational kinetic energy output end of the push-pull indexing assembly; thereby simulating the clamping and indexing of the threaded steel bundle supported on the adjustment bottom support structure until the threaded steel bundle forms and maintains the steep and gentle portions of the steel bundle when placed statically; There are two groups of directional adjustment and pressing structures, and each group of directional adjustment and pressing structures includes two groups of directional adjustment push rod assemblies and a group of pressing seat bodies; the base parts of the two groups of directional adjustment push rod assemblies are respectively fixedly connected to the other side of the bottom end of the extended transfer arm, and the linear kinetic energy output ends of the two groups of directional adjustment push rod assemblies are respectively connected and arranged between the pressing seat bodies, and the two groups of pressing seat bodies are used to simulate the stacking function, and based on the first bidirectional screw rod assembly, the pressing positions of the two outermost groups of threaded steel bundles in the upper layer of the simulated pre-stacked are adaptively adjusted, and at the same time, the contact pressure angle of the pressing seat body is adjusted with the help of the two groups of directional adjustment push rod assemblies to complete the steep part and the gentle part of the steel bundle.

[0008] As a further embodiment of the present invention, The planned stacking state of the threaded steel bundles layer by layer and the stacking positions corresponding to each layer specifically include: Several groups of rebar bundles are planned to be stacked vertically and crosswise layer by layer, and the rebar bundles of each spacer layer that maintain the same orientation are retracted 2x width from bottom to top, that is, the two groups of rebar bundles located on the outermost sides are retracted by x width respectively, and 2x is the static placement width of a single group of rebar bundles within the error threshold range, and the stacking position of each group of rebar bundles is determined by this plan; The bottom layer of rebar bundles is pre-laid based on the planned stacking status of the rebar bundles.

[0009] As a further embodiment of the present invention, The stacking state of the rebar bundle is adjusted according to the stacking drive and its stability pre-verification architecture, specifically including: The second bidirectional screw rod assembly in the position-adjusting bottom support structure is controlled to synchronously drive the two groups of bottom support bodies so that the two groups of bottom support bodies correspond to the supporting positions of the two outermost groups of threaded steel bundles in the bottom layer; Control the drive turntable in the grabbing and shifting structure to output kinetic energy to drive the extended transfer arm to transfer to the bundling and grabbing structure operation state, and continue to control the front and rear screw assemblies, the first bidirectional screw assembly and the main lifting push rod in the grabbing and shifting structure to cooperate and drive the bundling and grabbing structure to grab and shift the threaded steel bundle to the upper part of the two sets of bottom support bodies, so that the two sets of bottom support bodies support the current threaded steel bundle; Continue to control the driving turntable in the grabbing and shifting structure to output kinetic energy to drive the extended transfer arm to transfer to the adjustment and top pressing structure working state, and control the two groups of adjustment push rod assemblies in the adjustment and top pressing structure to extend respectively to adjust the tilt direction of the top pressing seat body, and at the same time make the top pressing seat body contact and press one side of the threaded steel bundle to form a relative steel bundle steep part and steel bundle slow part; The real-time status of the threaded steel bundle is monitored by the morphological recognition structure. When it is recognized that the steep portion and the slow portion of the steel bundle formed after the top pressure seat body contacts and presses the threaded steel bundle do not meet the predetermined distinction standard, the push-pull transfer assembly and the electric-controlled clamping chuck in the bundle transfer structure are controlled to cooperate to advance, clamp and rotate the threaded steel bundle. At the same time, the morphological recognition structure continues to monitor the status of the threaded steel bundle in real time, and the most significant rotation direction of the steep portion and the slow portion of the steel bundle is obtained by screening to place the threaded steel bundle on the two sets of bottom support seats. At this time, the bundle transfer structure is controlled again to release the clamping effect and return to the original position; The top pressing seat body in the top pressing structure is continuously controlled to tilt and contact the steel bundle buffer portion of the threaded steel bundle, so as to further form a relative steel bundle steep portion and steel bundle buffer portion.

[0010] As a further embodiment of the present invention, The stacking state of the rebar bundle is verified according to the stacking drive and its stability pre-verification architecture, specifically including: The two sets of directional push rod assemblies in the directional pressing structure are controlled to extend respectively to adjust the pressing seat to maintain a horizontal state, and at the same time drive the horizontal pressing seat to vertically press the top end of the threaded steel bundle to compact and verify the support stability of the current threaded steel bundle.

[0011] As a further embodiment of the present invention, The stacking state and stacking position of the rebar bundles are planned layer by layer, and the stacking drive and stability pre-verification architecture are used to drive several groups of rebar bundles to complete the overall stacking process, specifically including: The driving turntable in the grabbing and shifting structure is controlled again to output kinetic energy to drive the extended transfer arm to transfer to the bundling and grabbing structure operation state, and the grabbing and shifting structure and the driving bundling and grabbing structure are controlled to cooperate to grab and shift the threaded steel bundles that have reached the stacking state to the upper part of the pre-laid bottom layer of threaded steel bundles to form a second layer of threaded steel bundles. The placement direction of the second layer of threaded steel bundles is perpendicular to the placement direction of the bottom layer of threaded steel bundles. At the same time, the laying order of several groups of threaded steel bundles in the second layer is gradually and closely placed from the middle part to the two sides, and the steel bundle buffer of each group of threaded steel bundles is from the middle part to the side part corresponding to its placement order, so that the second layer of threaded steel bundles forms a stable support; Based on the second layer of rebar bundles, continue to stack the rebar bundles layer by layer in a vertical cross state, and make the rebar bundles of the same direction in each interval layer from bottom to top be retracted 2x width in turn until the overall stacking is completed.

[0012] A stacking and lifting system according to the intelligent path planning cross stacking and lifting method for rebar storage, comprising: Stacking architecture building module, used to build a pre-verified architecture for the vertical cross-stacking drive of rebar bundles and their stability; The stacking planning module is used to plan the stacking status of the rebar bundles layer by layer and the stacking positions corresponding to each layer; A stacking state adjustment module, used for adjusting the stacking state of the rebar bundles according to the stacking drive and its stability pre-verification architecture; A stacking status verification module, used to verify the stacking status of the rebar bundles according to the stacking drive and its stability pre-verification architecture; The driving stacking module is used to drive several groups of rebar bundles to complete the overall stacking process based on the planned layer-by-layer stacking status and stacking position of the rebar bundles, and continues to drive the stacking drive and its stability pre-verification architecture.

[0013] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method when executing the computer program.

[0014] A computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the method described.

[0015] The present invention has the following beneficial effects: The method and system can perform pre-path planning and pre-adjustment verification of the stacking state stability for several groups of vertically cross-stacked rebar bundles, and use the automated architecture to accurately control the stacking orientation, thereby significantly improving the local compressive support and overall bearing capacity distribution uniformity and stability of the rebar bundles, reducing the possibility of collapse of the rebar bundle stack, and improving overall safety and functional practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation mode of the present invention or the technical solution in the prior art, the drawings required for the implementation mode or the description of the prior art will be briefly introduced below. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0017] Figure 1 A schematic diagram of the overall process of the intelligent path planning cross stacking and lifting method for rebar storage provided in an embodiment of the present invention.

[0018] Figure 2 A schematic diagram of the overall architecture principle of the stacking drive and its stability pre-verification architecture in the intelligent path planning cross-stacking and lifting method for rebar storage provided in an embodiment of the present invention.

[0019] Figure 3 A schematic diagram of the partial architecture principle of the stacking drive and its stability pre-verification architecture in the intelligent path planning cross-stacking and lifting method for rebar storage provided in an embodiment of the present invention.

[0020] Figure 4 The intelligent path planning cross stacking and lifting method for rebar storage provided by the embodiment of the present invention is Figure 3 A schematic diagram of the enlarged local structure at point A in the middle.

[0021] Figure 5 A schematic diagram of the planning and stacking principle of rebar bundles in the intelligent path planning cross-stacking and lifting method for rebar storage provided in an embodiment of the present invention.

[0022] Figure 6 A schematic diagram of the architecture principle of an intelligent path planning cross-stacking and lifting system for rebar storage provided in an embodiment of the present invention.

[0023] Figure 7 The figure is a schematic diagram of the physical structure of an electronic device according to an embodiment of the present invention.

[0024] In the accompanying drawings, the components represented by the reference numerals are listed as follows: Basic support frame structure 1: drive shift seat 11, telescopic support rod 12, transfer drive seat 13, first bearing platform 14, second bearing platform 15; Grasping and shifting structure 2: front and rear screw assembly 21, first bidirectional screw assembly 22, main lifting push rod 23, driving turntable 24, extension shifting arm 25; Bundling grabbing structure 3: grabbing lifting push rod 31, pneumatic clamping claw assembly 32; The adjusting bottom support structure 4 includes a second bidirectional screw rod assembly 41 and a bottom support seat body 42; Bundling transfer structure 5: push-pull transfer assembly 51, electric control clamping chuck 52; Adjustment and pressing structure 6: adjustment push rod assembly 61, pressing seat body 62; Morphological recognition structure 7; Threaded steel bundle a, steel bundle steep part a1, steel bundle gentle part a2; Stacking structure building module 10; stacking planning module 20; stacking state adjustment module 30; stacking state verification module 40; driving stacking module 50; Electronic device 60 : processor 601 , memory 602 , internal bus 603 . DETAILED DESCRIPTION

[0025] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The terms such as "front", "back", "upper", "lower", "left", "right", and "middle" used in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of implementation of the present invention without substantially changing the technical content.

[0027] like Figures 1 to 5As shown, the embodiment of the present invention provides an intelligent path planning cross stacking and lifting method for rebar storage, which can pre-plan the path and pre-adjust the stability of the stacking state for several groups of vertically cross stacked rebar bundles a, and use the automated architecture to accurately control the stacking position, significantly improve the local compressive support and overall uniform distribution stability of the rebar bundles a, reduce the possibility of collapse of the stack of rebar bundles a, and improve the overall safety. Specifically, it includes the following steps: S1: Construct a vertical cross stacking drive and stability pre-verification architecture of rebar bundles; The specific process is: Please refer to Figures 1 to 4 , a basic support frame structure 1 is set, and the basic support frame structure 1 includes a driving shift seat 11, a telescopic support rod 12, a transfer drive seat 13, a first bearing platform 14 and a second bearing platform 15; wherein the driving shift seat 11 can be transmission-assembled on the XY direction and the rotation drive platform, so as to correspond to the flexible displacement and transfer in the XY direction; the base part of the telescopic support rod 12 can be rotatably assembled on the driving shift seat 11, and the telescopic driving end of the telescopic support rod 12 is connected to the base part of the transfer drive seat 13 by transmission assembly, and the rotation driving end of the transfer drive seat 13 is respectively connected to the first bearing platform 14 and the second bearing platform 15 by transmission assembly, and the second bearing platform 15 is parallelly located at the lower position of the first bearing platform 14, so as to form an elevated telescopic bearing platform that can be flexibly switched according to the working state; The grabbing and shifting structure 2 is assembled and arranged on the bottom end surface of the first bearing platform 14, and the grabbing and shifting structure 2 includes a front and rear screw assembly 21, a first bidirectional screw assembly 22, a main lifting push rod 23, a driving turntable 24 and an extending shifting arm 25; wherein, the front and rear screw assemblies 21 are provided with two groups, the base parts of the two groups of front and rear screw assemblies 21 are respectively fixedly arranged on the bottom end surface of the first bearing platform 14, and the two groups of front and rear screw assemblies 21 have linear kinetic energy output ends along the front and rear directions; the base part of the first bidirectional screw assembly 22 is connected to the linear kinetic energy output ends of the two groups of front and rear screw assemblies 21 by a transmission assembly, and the first bidirectional screw assembly 22 has two linear kinetic energy output ends, and the two linear kinetic energy output ends of the first bidirectional screw assembly 22 face opposite directions and are both perpendicular to the linear kinetic energy output direction of the front and rear screw assemblies 21; The main lifting push rod 23, the driving turntable 24 and the extension indexing arm 25 are each provided with two groups, the base parts of the two groups of main lifting push rods 23 are respectively and one-to-one correspondingly equipped with transmissions at the two linear kinetic energy output ends of the first bidirectional screw assembly 22, and the linear kinetic energy output ends of the two groups of main lifting push rods 23 and the base parts of the two groups of driving turntables 24 are respectively and one-to-one correspondingly equipped with transmissions and connected, and the two groups of extension indexing arms 25 are respectively and one-to-one correspondingly equipped with transmissions at the rotational kinetic energy output ends of the two groups of driving turntables 24; Two groups of bundle grabbing structures 3 are provided, and each group of bundle grabbing structures 3 includes a grabbing lifting push rod 31 and a pneumatic clamping claw assembly 32; wherein, the base parts of the two groups of grabbing lifting push rods 31 are respectively fixedly assembled and arranged on one side of the bottom end of the two groups of extension transfer arms 25 in a one-to-one correspondence, and the base parts of the two groups of pneumatic clamping claw assemblies 32 are respectively fixedly assembled and arranged on the linear kinetic energy output end parts of the two groups of grabbing lifting push rods 31 in a one-to-one correspondence, thereby realizing the grabbing and stacking action of the threaded steel bundle a through the bundle grabbing structure 3 based on the grabbing shifting structure 2; The positioning bottom support structure 4 is assembled on the top surface of the second bearing platform 15, and the positioning bottom support structure 4 includes a second bidirectional screw rod assembly 41 and a bottom support seat body 42; wherein, the base of the second bidirectional screw rod assembly 41 is fixedly connected to the top surface of the second bearing platform 15, and the second bidirectional screw rod assembly 41 has two linear kinetic energy output ends, and the two linear kinetic energy output ends of the second bidirectional screw rod assembly 41 are oriented in opposite directions and correspond one-to-one to the same direction as the two linear kinetic energy output ends of the first bidirectional screw rod assembly 22; the bottom support seat body 42 is provided with two groups, and the two groups of bottom support seat bodies 42 are respectively and one-to-one correspondingly fixedly connected to the two linear kinetic energy output ends of the second bidirectional screw rod assembly 41; so as to play a simulated supporting function through the two groups of bottom support seat bodies 42, and can adaptively adjust the support position of the two outermost groups of threaded steel bundles a of the simulated lower layer; Two groups of bundle transfer structures 5 are provided, and the two groups of bundle transfer structures 5 are respectively mounted on the top surface of the second bearing platform 15 in an opposite manner, and each group of bundle transfer structures 5 includes a push-pull transfer assembly 51 and an electrically controlled clamping chuck 52; wherein, the push-pull transfer assembly 51 is fixedly mounted on the top surface of the second bearing platform 15, and the push-pull transfer assembly 51 has a linear kinetic energy and a rotational kinetic energy output end portion which are sequentially connected and transmitted; the base portion of the electrically controlled clamping chuck 52 is fixedly mounted on the linear kinetic energy and the rotational kinetic energy output end portion of the push-pull transfer assembly 51; thereby clamping and transferring the threaded steel bundle a supported on the adjustment bottom support structure 4, until the threaded steel bundle a forms and maintains the steel bundle steep portion a1 and the steel bundle slow portion a2 state when statically placed; Two groups of the direction-adjusting and top-pressing structures 6 are provided, and each group of the direction-adjusting and top-pressing structures 6 includes two groups of direction-adjusting push rod assemblies 61 and one group of top-pressing seat bodies 62; wherein, the base parts of the two groups of direction-adjusting push rod assemblies 61 are respectively fixedly connected to the other side of the bottom end of the extended transfer arm 25, and the linear kinetic energy output ends of the two groups of direction-adjusting push rod assemblies 61 are respectively connected and arranged between the top-pressing seat bodies 62, so as to play a simulated stacking function through the two groups of top-pressing seat bodies 62, and can adaptively adjust the top-pressing positions of the two outermost groups of threaded steel bundles a of the upper layer simulated pre-stacked based on the first bidirectional screw assembly 22, and at the same time, the contact pressure angle of the top-pressing seat body 62 can be adjusted by means of the two groups of direction-adjusting push rod assemblies 61 to assist in completing the steep portion a1 of the steel bundle and the gentle portion a2 of the steel bundle; The morphology recognition structures 7 are provided with a plurality of groups, and the plurality of groups of morphology recognition structures 7 are respectively fixedly provided at least at the opposite side positions of the two groups of bundle transfer structures 5, so as to identify and monitor the current operation process and the current state of the threaded steel bundle a when it is statically placed on the adjustment bottom support structure 4 through the morphology recognition structures 7; S2: planning the stacking state of the rebar bundle a layer by layer and the stacking position corresponding to each layer; The specific process is: Please refer to Figure 5 , plan several groups of threaded steel bundles a to be stacked vertically and crosswise layer by layer, and make the threaded steel bundles a of each spacing layer with the same orientation retract 2x width from bottom to top, that is, the two groups of threaded steel bundles a located on the outermost sides retract x width respectively, 2x is the static placement width of a single group of threaded steel bundles a within the error threshold range, and the stacking position of each group of threaded steel bundles a is determined by this plan; Pre-lay the bottom layer of rebar bundle a based on the planned stacking status of rebar bundle a; S3: adjusting the stacking state of the rebar bundle a according to the stacking drive and its stability pre-verification architecture; The specific process is: The second bidirectional screw assembly 41 in the position-adjusting bottom support structure 4 is controlled to synchronously drive the two groups of bottom support bodies 42, so that the two groups of bottom support bodies 42 correspond to the supporting positions of the two outermost groups of threaded steel bundles a in the bottom layer; The driving turntable 24 in the grabbing and shifting structure 2 is controlled to output kinetic energy to drive the extending transfer arm 25 to transfer to the working state of the bundling and grabbing structure 3, and the front and rear screw assemblies 21, the first bidirectional screw assembly 22 and the main lifting push rod 23 in the grabbing and shifting structure 2 are continued to be controlled to cooperate with the driving of the bundling and grabbing structure 3 to grab and shift the threaded steel bundle a to the upper part of the two sets of bottom support bodies 42, so that the two sets of bottom support bodies 42 support the current threaded steel bundle a; Continue to control the driving turntable 24 in the grabbing and shifting structure 2 to output kinetic energy to drive the extending transfer arm 25 to transfer to the working state of the adjusting and pressing structure 6, and control the two groups of adjusting push rod assemblies 61 in the adjusting and pressing structure 6 to extend respectively to adjust the tilting direction of the pressing seat body 62, and at the same time make the pressing seat body 62 contact and press one side of the threaded steel bundle a to form a relative steel bundle steep portion a1 and steel bundle slow portion a2; The real-time status of the threaded steel bundle a is identified and monitored by the morphological recognition structure 7. When it is identified that the top pressure seat body 62 contacts the threaded steel bundle a and it is difficult to distinguish between the steep portion a1 of the steel bundle and the slow portion a2 of the steel bundle, the push-pull transfer assembly 51 and the electric-controlled clamping chuck 52 in the bundle transfer structure 5 are controlled to cooperate to advance, clamp and rotate the threaded steel bundle a. At the same time, the morphological recognition structure 7 continues to identify and monitor the status of the threaded steel bundle a in real time, and the most significant rotation direction of the steep portion a1 of the steel bundle and the slow portion a2 of the steel bundle is obtained by screening to place the threaded steel bundle a on the two sets of bottom support seats 42. At this time, the bundle transfer structure 5 is controlled again to release the clamping effect and return to its original position. In an optional embodiment, the pressing seat body 62 in the pressing structure 6 is controlled to tilt and press the steel bundle buffer portion a2 of the threaded steel bundle a, so as to further form the steel bundle steep portion a1 and the steel bundle buffer portion a2 relative to each other; S4: Verify the stacking status of the rebar bundle a according to the stacking drive and its stability pre-verification architecture; The specific process is: The two groups of direction-adjusting push rod assemblies 61 in the direction-adjusting pressing structure 6 are controlled to extend respectively to adjust the pressing seat body 62 to maintain a horizontal state, and at the same time, the pressing seat body 62 in a horizontal state is driven to vertically press the top end of the threaded steel bundle a, thereby compacting and verifying the support stability of the current threaded steel bundle a; S5: Based on the planned stacking status and stacking position of the rebar bundle a, continue to drive several groups of rebar bundles a to complete the overall stacking process through the stacking drive and its stability pre-verification architecture; The specific process is: The driving turntable 24 in the grabbing and shifting structure 2 is controlled again to output kinetic energy to drive the extended shifting arm 25 to shift to the working state of the bundling and grabbing structure 3, and the grabbing and shifting structure 2 and the driving bundling and grabbing structure 3 are controlled to cooperate with each other to grab and shift the threaded steel bundle a in the stacking state to the upper part of the pre-laid bottom layer of threaded steel bundle a to form a second layer of threaded steel bundle a. The placement direction of the second layer of threaded steel bundle a is perpendicular to the placement direction of the bottom layer of threaded steel bundle a. At the same time, the laying order of several groups of threaded steel bundles a in the second layer is gradually and closely placed from the middle part to the two sides, and the steel bundle buffer a2 of each group of threaded steel bundle a is from the middle part to the side part corresponding to its placement order, so that the second layer of threaded steel bundle a forms a stable support; Based on the second layer of rebar bundle a, continue to stack the rebar bundle a layer by layer in a vertical cross state, and make the rebar bundle a of the same direction in each interval layer from bottom to top be retracted inward by 2x width in turn until the overall stacking is completed.

[0028] Please refer to Figure 6 The embodiment of the present invention further provides a stacking and lifting system according to the intelligent path planning cross stacking and lifting method for rebar storage, comprising: A stacking structure construction module 10 is used to construct a vertical cross stacking drive of rebar bundles and a stability pre-verification structure thereof; A stacking planning module 20 is used to plan the stacking status of the rebar bundles layer by layer and the stacking positions corresponding to each layer; A stacking state adjustment module 30, for adjusting the stacking state of the rebar bundles according to the stacking drive and its stability pre-verification architecture; A stacking state verification module 40 is used to verify the stacking state of the rebar bundles according to the stacking drive and its stability pre-verification architecture; The driving stacking module 50 is used to drive a plurality of groups of threaded steel bundles to complete the overall stacking process through stacking driving and its stability pre-verification architecture based on the planned layer-by-layer stacking status and stacking position of the threaded steel bundles.

[0029] Figure 7 FIG. 1 is a schematic diagram of the physical structure of an electronic device according to an embodiment of the present invention. Figure 7 As shown, the electronic device 60 includes: a processor 601 (processor), a memory 602 (memory) and an internal bus 603; wherein the processor 601 and the memory 602 communicate with each other through the internal bus 603; The processor 601 is used to call the program instructions in the memory 602 to execute the methods provided by the above-mentioned method embodiments, for example, including: constructing a vertical cross stacking drive and a stability pre-verification architecture for threaded steel bundles; planning the layer-by-layer stacking state of the threaded steel bundles and the stacking positions corresponding to each layer; adjusting the stacking state of the threaded steel bundles according to the stacking drive and the stability pre-verification architecture; continuing to verify the stacking state of the threaded steel bundles according to the stacking drive and the stability pre-verification architecture; based on the planned layer-by-layer stacking state and stacking position of the threaded steel bundles, continuing to drive a plurality of groups of threaded steel bundles to complete the overall stacking process through the stacking drive and the stability pre-verification architecture.

[0030] The present embodiment provides a non-transitory computer-readable storage medium, which stores computer instructions. The computer instructions enable a computer to execute the methods provided by the above-mentioned method embodiments, for example, including: constructing a vertical cross stacking drive and a stability pre-verification architecture for threaded steel bundles; planning the layer-by-layer stacking state of the threaded steel bundles and the stacking positions corresponding to each layer; adjusting the stacking state of the threaded steel bundles according to the stacking drive and the stability pre-verification architecture; continuing to verify the stacking state of the threaded steel bundles according to the stacking drive and the stability pre-verification architecture; based on the planned layer-by-layer stacking state and stacking position of the threaded steel bundles, continuing to drive a plurality of groups of threaded steel bundles to complete the overall stacking process through the stacking drive and the stability pre-verification architecture.

[0031] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various storage media that can store program codes.

[0032] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0033] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0034] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. An intelligent path planning cross stacking and lifting method for rebar storage, characterized in that: The steps include: Construct a pre-verified architecture for the vertical cross stacking drive of rebar bundles and their stability; Plan the stacking status of rebar bundles layer by layer and their corresponding stacking positions for each layer; Adjust the stacking status of rebar bundles according to the stacking drive and its stability pre-verification architecture; Continue to verify the stacking status of rebar bundles based on the stacking drive and its stability pre-verification architecture; Based on the planned stacking status and stacking position of the rebar bundles layer by layer, the stacking drive and its stability pre-verification architecture are used to drive several groups of rebar bundles to complete the overall stacking process.

2. The intelligent path planning cross stacking and lifting method for rebar storage according to claim 1 is characterized in that: The construction of the vertical cross stacking drive of the rebar bundle and the stability pre-verification architecture thereof specifically includes: A basic support frame structure is provided, the basic support frame structure includes a drive shift seat, a telescopic support rod, a transfer drive seat, a first bearing platform and a second bearing platform; The driving shift seat is transmission-assembled on the XY direction and the rotating driving platform, so as to correspond to the flexible shift and indexing in the XY direction; the base of the telescopic support rod is rotatably assembled on the driving shift seat, and the telescopic driving end of the telescopic support rod is connected to the base of the indexing driving seat by a transmission assembly, and the rotating driving end of the indexing driving seat is respectively connected to the transmission assembly between the first bearing platform and the second bearing platform, and the second bearing platform is parallelly located at the lower position of the first bearing platform, forming an elevated telescopic bearing platform; The grabbing and shifting structure is assembled on the bottom end surface of the first bearing platform, and the grabbing and shifting structure includes front and rear lead screw assemblies, a first bidirectional lead screw assembly, a main lifting push rod, a driving turntable and an extending transfer arm; There are two groups of front and rear screw assemblies, and the base parts of the two groups of front and rear screw assemblies are respectively fixedly arranged on the bottom end surface of the first bearing platform, and the two groups of front and rear screw assemblies have a linear kinetic energy output end portion along the front and rear direction; the base part of the first bidirectional screw assembly is connected to the linear kinetic energy output end portions of the two groups of front and rear screw assemblies by transmission assembly, and the first bidirectional screw assembly has two linear kinetic energy output end portions, and the two linear kinetic energy output end portions of the first bidirectional screw assembly face in opposite directions and are both perpendicular to the linear kinetic energy output direction of the front and rear screw assemblies; two groups of main lifting push rods, driving turntables and extended transfer arms are each provided with two groups, and the base parts of the two groups of main lifting push rods are respectively correspondingly transmission assembled on the two linear kinetic energy output end portions of the first bidirectional screw assembly, and the linear kinetic energy output end portions of the two groups of main lifting push rods are respectively correspondingly transmission assembled on the base parts of the two groups of driving turntables, and the two groups of extended transfer arms are respectively correspondingly transmission assembled on the rotational kinetic energy output end portions of the two groups of driving turntables; Two groups of bundle grabbing structures are provided, and each group of bundle grabbing structures includes a grabbing lifting push rod and a pneumatic clamping claw assembly; the base parts of the two groups of grabbing lifting push rods are respectively fixedly assembled on one side of the bottom end of the two groups of extended transfer arms, and the base parts of the two groups of pneumatic clamping claw assemblies are respectively fixedly assembled on the linear kinetic energy output ends of the two groups of grabbing lifting push rods; The positioning bottom support structure is assembled on the top surface of the second bearing platform, and the positioning bottom support structure includes a second bidirectional screw rod assembly and a bottom support seat body; the base of the second bidirectional screw rod assembly is fixedly connected to the top surface of the second bearing platform, and the second bidirectional screw rod assembly has two linear kinetic energy output ends, the two linear kinetic energy output ends of the second bidirectional screw rod assembly are in opposite directions and correspond one to one with the same direction as the two linear kinetic energy output ends of the first bidirectional screw rod assembly; two groups of bottom support seats are provided, and the two groups of bottom support seats are respectively and one to one transmission-fixedly connected to the two linear kinetic energy output ends of the second bidirectional screw rod assembly; A plurality of groups of morphological recognition structures are provided, through which the current operation progress and the current state of the threaded steel bundle when it is statically placed on the positioning bottom support structure are recognized and monitored.

3. The intelligent path planning cross stacking and lifting method for rebar storage according to claim 2 is characterized in that: The construction of the vertical cross stacking drive of the rebar bundle and the stability pre-verification architecture thereof specifically includes: Two groups of bundle transfer structures are provided, and the two groups of bundle transfer structures are respectively installed on the top surface of the second bearing platform in an opposite manner, and each group of bundle transfer structures includes a push-pull transfer component and an electric-controlled clamping chuck; The push-pull transfer assembly is fixedly mounted on the top surface of the second bearing platform, and the push-pull transfer assembly has linear kinetic energy and rotational kinetic energy output ends which are sequentially transmitted and connected; The base of the electric-controlled clamping chuck is fixedly mounted on the linear kinetic energy and rotational kinetic energy output end of the push-pull indexing assembly; thereby simulating the clamping and indexing of the threaded steel bundle supported on the adjustment bottom support structure until the threaded steel bundle forms and maintains the steep and gentle portions of the steel bundle when placed statically; There are two groups of directional adjustment and pressing structures, and each group of directional adjustment and pressing structures includes two groups of directional adjustment push rod assemblies and a group of pressing seat bodies; the base parts of the two groups of directional adjustment push rod assemblies are respectively fixedly connected to the other side of the bottom end of the extended transfer arm, and the linear kinetic energy output ends of the two groups of directional adjustment push rod assemblies are respectively connected and arranged between the pressing seat bodies, and the two groups of pressing seat bodies are used to simulate the stacking function, and based on the first bidirectional screw rod assembly, the pressing positions of the two outermost groups of threaded steel bundles in the upper layer of the simulated pre-stacked are adaptively adjusted, and at the same time, the contact pressure angle of the pressing seat body is adjusted with the help of the two groups of directional adjustment push rod assemblies to complete the steep part and the gentle part of the steel bundle.

4. The intelligent path planning cross stacking and lifting method for rebar storage according to claim 3 is characterized in that: The planned stacking state of the threaded steel bundles layer by layer and the stacking positions corresponding to each layer specifically include: Several groups of rebar bundles are planned to be stacked vertically and crosswise layer by layer, and the rebar bundles of each spacer layer that maintain the same orientation are retracted 2x width from bottom to top, that is, the two groups of rebar bundles located on the outermost sides are retracted by x width respectively, and 2x is the static placement width of a single group of rebar bundles within the error threshold range, and the stacking position of each group of rebar bundles is determined by this plan; The bottom layer of rebar bundles is pre-laid based on the planned stacking status of the rebar bundles.

5. The intelligent path planning cross stacking and lifting method for rebar storage according to claim 4 is characterized in that: The stacking state of the rebar bundle is adjusted according to the stacking drive and its stability pre-verification architecture, specifically including: The second bidirectional screw rod assembly in the position-adjusting bottom support structure is controlled to synchronously drive the two groups of bottom support bodies so that the two groups of bottom support bodies correspond to the supporting positions of the two outermost groups of threaded steel bundles in the bottom layer; Control the drive turntable in the grabbing and shifting structure to output kinetic energy to drive the extended transfer arm to transfer to the bundling and grabbing structure operation state, and continue to control the front and rear screw assemblies, the first bidirectional screw assembly and the main lifting push rod in the grabbing and shifting structure to cooperate and drive the bundling and grabbing structure to grab and shift the threaded steel bundle to the upper part of the two sets of bottom support bodies, so that the two sets of bottom support bodies support the current threaded steel bundle; Continue to control the driving turntable in the grabbing and shifting structure to output kinetic energy to drive the extended transfer arm to transfer to the adjustment and top pressing structure working state, and control the two groups of adjustment push rod assemblies in the adjustment and top pressing structure to extend respectively to adjust the tilt direction of the top pressing seat body, and at the same time make the top pressing seat body contact and press one side of the threaded steel bundle to form a relative steel bundle steep part and steel bundle slow part; The real-time status of the threaded steel bundle is monitored by the morphological recognition structure. When it is recognized that the steep portion and the slow portion of the steel bundle formed after the top pressure seat body contacts and presses the threaded steel bundle do not meet the predetermined distinction standard, the push-pull transfer assembly and the electric-controlled clamping chuck in the bundle transfer structure are controlled to cooperate to advance, clamp and rotate the threaded steel bundle. At the same time, the morphological recognition structure continues to monitor the status of the threaded steel bundle in real time, and the most significant rotation direction of the steep portion and the slow portion of the steel bundle is obtained by screening to place the threaded steel bundle on the two sets of bottom support seats. At this time, the bundle transfer structure is controlled again to release the clamping effect and return to the original position; The top pressing seat body in the top pressing structure is continuously controlled to tilt and contact the steel bundle buffer portion of the threaded steel bundle, so as to further form a relative steel bundle steep portion and steel bundle buffer portion.

6. The intelligent path planning cross stacking and lifting method for rebar storage according to claim 5 is characterized in that: The stacking state of the rebar bundle is verified according to the stacking drive and its stability pre-verification architecture, specifically including: The two sets of directional push rod assemblies in the directional pressing structure are controlled to extend respectively to adjust the pressing seat to maintain a horizontal state, and at the same time drive the horizontal pressing seat to vertically press the top end of the threaded steel bundle to compact and verify the support stability of the current threaded steel bundle.

7. The intelligent path planning cross stacking and lifting method for rebar storage according to claim 6 is characterized in that: The stacking state and stacking position of the rebar bundles are planned layer by layer, and the stacking drive and stability pre-verification architecture are used to drive several groups of rebar bundles to complete the overall stacking process, specifically including: The driving turntable in the grabbing and shifting structure is controlled again to output kinetic energy to drive the extended transfer arm to transfer to the bundling and grabbing structure operation state, and the grabbing and shifting structure and the driving bundling and grabbing structure are controlled to cooperate to grab and shift the threaded steel bundles that have reached the stacking state to the upper part of the pre-laid bottom layer of threaded steel bundles to form a second layer of threaded steel bundles. The placement direction of the second layer of threaded steel bundles is perpendicular to the placement direction of the bottom layer of threaded steel bundles. At the same time, the laying order of several groups of threaded steel bundles in the second layer is gradually and closely placed from the middle part to the two sides, and the steel bundle buffer of each group of threaded steel bundles is from the middle part to the side part corresponding to its placement order, so that the second layer of threaded steel bundles forms a stable support; Based on the second layer of rebar bundles, continue to stack the rebar bundles layer by layer in a vertical cross state, and make the rebar bundles in the same direction of each interval layer from bottom to top be retracted 2x width in turn until the overall stacking is completed.

8. A stacking and lifting system according to the intelligent path planning cross stacking and lifting method for rebar storage according to claim 7, characterized in that: The stacking and lifting system comprises: Stacking architecture building module, used to build a pre-verified architecture for the vertical cross-stacking drive of rebar bundles and their stability; The stacking planning module is used to plan the stacking status of the rebar bundles layer by layer and the stacking positions corresponding to each layer; A stacking state adjustment module, used for adjusting the stacking state of the rebar bundle according to the stacking drive and its stability pre-verification architecture; A stacking status verification module, used to verify the stacking status of the rebar bundles according to the stacking drive and its stability pre-verification architecture; The driving stacking module is used to drive several groups of rebar bundles to complete the overall stacking process based on the planned layer-by-layer stacking status and stacking position of the rebar bundles, and continues to drive the stacking drive and its stability pre-verification architecture.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method described in any one of claims 1 to 7 is implemented.

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