Steel plate stacking machine three-dimensional warehouse and feeding and discharging method

Abstract

The invention relates to the technical field of stacking machines, and discloses a steel plate stacking machine three-dimensional warehouse which comprises a control assembly, a stacking machine, a truss mechanical arm, a three-dimensional warehouse goods shelf, a roller way, a centering mechanism and a detection system. Wherein the roller way comprises a feeding roller way and a discharging roller way; the control assembly is used for controlling the truss manipulator and the stacking machine; the centering mechanism is used for positioning the feeding position of the feeding material; the detection system is used for detecting the appearance and size of the rechecked material; the truss mechanical arm is used for picking up the feeding materials from the feeding roller way to the stacking machine and picking up the discharging materials from the stacking machine to the discharging roller way. The stacking machine is used for transporting the feeding materials from the feeding roller way to the three-dimensional warehouse goods shelf and transporting the discharging materials from the three-dimensional warehouse goods shelf to the discharging roller way. After the control assembly distributes the storage positions, the optimal path is calculated, the materials are directly conveyed to the stacking machine from the top of the three-dimensional warehouse, then warehousing is achieved through the stacking machine, and full-automatic intelligent operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of stackers, and specifically, to a three-dimensional warehouse of a steel plate stacker and a loading and unloading method therefor. Background Art

[0002] A stacker is the most important lifting and transportation equipment in a three-dimensional warehouse and is a symbol representing the characteristics of a three-dimensional warehouse. The main function of the stacker crane is to run back and forth in the aisle of the three-dimensional warehouse, store the goods located at the aisle entrance into the storage compartments of the shelves, or take out the goods in the storage compartments and transport them to the aisle entrance.

[0003] For the existing stacker, materials cannot be stored from the top of the aisle of the three-dimensional warehouse, which is not conducive to the overall layout of the three-dimensional warehouse stacker and the automatic loading and unloading control. In addition, the fork spacing of the existing stacker is not adjustable, resulting in inapplicability in the case of complex material length specifications and reduced transportation efficiency.

[0004] The existing stacker has a heavy workload and a very limited working efficiency. Therefore, there is an urgent need for a three-dimensional warehouse of a steel plate stacker. Summary of the Invention

[0005] The present invention is made to solve the above technical problems, and its purpose is to provide a three-dimensional warehouse of a steel plate stacker and a loading and unloading method therefor, which can calculate the optimal path after the storage location is allocated by an intelligent warehouse management system, directly transport the materials to the stacker in the narrow aisle of the three-dimensional warehouse from the top of the three-dimensional warehouse, and then the stacker realizes the storage. The whole process does not require external equipment and personnel intervention, realizing fully automatic and intelligent operation.

[0006] To achieve the above purpose, the present invention provides a three-dimensional warehouse of a steel plate stacker, including: a control component, a stacker, a truss manipulator, a three-dimensional warehouse shelf, a roller path, a centering mechanism, and a detection system; wherein,

[0007] The truss manipulator, the stacker, the centering mechanism, and the detection system are electrically connected to the control component;

[0008] The roller path includes a loading roller path and an unloading roller path,

[0009] The loading roller path is used for transporting loading materials;

[0010] The unloading roller path is used for transporting unloading materials;

[0011] The control component is used to control the truss manipulator and the stacker;

[0012] The centering mechanism is used to position the loading position of the loading materials;

[0013] The detection system is used to detect and recheck the shape and size of the materials;

[0014] The truss manipulator is used to pick up the feeding materials from the feeding roller table to the stacker, and pick up the discharging materials from the stacker to the discharging roller table;

[0015] The stacker is used to transport the feeding materials from the feeding roller table to the stereoscopic warehouse shelves, and transport the discharging materials from the stereoscopic warehouse shelves to the discharging roller table.

[0016] Preferably, the control component includes: a PLC master control system, an industrial computer operation processing system, and a stereoscopic warehouse intelligent management system; wherein,

[0017] The PLC master control system is used to control the truss manipulator to pick up the materials to the stacker;

[0018] The stereoscopic warehouse intelligent management system is used to determine the warehouse location required for the materials;

[0019] The industrial computer operation processing system is used to calculate the walking path from the stacker to the warehouse location.

[0020] Preferably, the stacker includes: a roadway rail trolley, a lifting component arranged in the roadway rail trolley, and a two-way fork arranged on the roadway rail trolley; wherein,

[0021] The two-way fork is used to fix the materials;

[0022] The roadway rail trolley is a sunken box rail trolley, and the box of the roadway rail trolley sinks to the inner side of the lower rail;

[0023] The lifting component includes: two horizontally arranged driving lead screws, and a lifting mechanism arranged on the two driving lead screws;

[0024] The lifting component is used to drive the box to move up and down.

[0025] Preferably, the two-way fork is a movable fork, wherein,

[0026] The interval distance between the two-way forks can be adjusted according to the length of the materials.

[0027] Preferably, the lifting mechanism is a diamond structure.

[0028] Preferably, the stereoscopic warehouse shelves are pipe-supported stereoscopic warehouses.

[0029] Preferably, the truss manipulator and the materials are connected to each other through pneumatic suction cups.

[0030] Preferably, each layer of the stereoscopic warehouse shelves is divided into several unobstructed small grid warehouse locations.

[0031] A method for loading and unloading in a three-dimensional warehouse, comprising the following steps:

[0032] S1: When loading, select the target material to be loaded according to the loading information, and place the target material on the loading roller table;

[0033] S2: Control the truss manipulator through the control component to transfer the target material on the loading roller table to the stacker, and control the stacker to transport the target material to the three-dimensional warehouse shelf;

[0034] S3: When unloading, control the stacker to select the target material to be unloaded from the three-dimensional warehouse shelf through the control component;

[0035] S4: Control the truss manipulator through the control component to transfer the target material to be unloaded from the stacker to the unloading roller table, and transport the target material to be unloaded to a preset position through the unloading roller table.

[0036] Preferably, the method for loading and unloading in the three-dimensional warehouse includes:

[0037] In step S1,

[0038] When loading, select the target material to be loaded according to the loading information, and place the target material to be loaded on the loading roller table, including:

[0039] Inspect the target material to be loaded through the detection system; and,

[0040] Locate the loading position of the target material to be loaded through the centering mechanism.

[0041] According to the above description and practice, the steel plate stacker three-dimensional warehouse and the loading and unloading method thereof described in the present invention have the following beneficial effects compared with the prior art:

[0042] 1. After the control component allocates the storage locations in the present invention, the most efficient path is calculated. The truss manipulator directly transports the materials from the roller table through the top of the three-dimensional warehouse shelf to the stacker in the middle aisle of the three-dimensional warehouse shelf, and then the stacker realizes warehousing. The whole process does not require external equipment and personnel intervention, realizing fully automatic and intelligent operation.

[0043] 2. By dividing each layer of the three-dimensional warehouse into several small storage locations without barriers, the required small storage locations can be intelligently allocated according to the material length during use, which can maximize the utilization rate of the storage locations and is also beneficial for the control component to efficiently coordinate the incoming and outgoing material operations.

[0044] 3. The stacker is provided with a fork with automatically adjustable spacing, which can be adjusted according to the material length to automatically adapt to the loading requirements of materials of various lengths. Brief Description of the Drawings

[0045] Figure 1 It is a side sectional view of the stacker involved in an embodiment of the present invention.

[0046] Figure 2 It is a side sectional view of the lifting assembly involved in an embodiment of the present invention.

[0047] The reference numerals in the figure are as follows:

[0048] 1, roadway rail trolley; 2, lifting assembly; 21, driving lead screw; 22, lifting mechanism; 3, double-directional fork. Detailed Embodiment

[0049] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments.

[0050] In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures denote the same or similar parts, and thus their repeated description will be omitted. It should be noted that in the present disclosure, the terms "comprising", "configured with", "disposed on" are used to mean an open inclusion, and mean that there may be additional elements, components, etc. in addition to the listed elements / components / etc.; the terms "first", "second", etc. are only used as labels and are not a limitation on the quantity or order of their objects; the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the present invention.

[0051] Unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0052] In this embodiment, a three-dimensional library of a steel plate stacker is disclosed.Figure 1 The side sectional structure of the stacker crane is shown. Figure 2 The side sectional structure of the lifting component is shown.

[0053] Please refer to Figures 1 to 2 , in the three-dimensional warehouse of the steel plate stacker crane of the present invention, it includes: a control component, a stacker crane, a truss manipulator, a three-dimensional warehouse shelf, a roller path, a centering mechanism and a detection system; among them, the truss manipulator, the stacker crane, the centering mechanism and the detection system are electrically connected to the control component; the roller path includes a loading roller path and an unloading roller path, the loading roller path is used to transport the loading materials, and the unloading roller path is used to transport the unloading materials to the three-dimensional warehouse shelf; the control component is used to control the truss manipulator and the stacker crane; the centering mechanism is used to position the loading position of the materials; the detection system is used to detect and recheck the shape and size of the materials; the truss manipulator is used to pick up the loading materials from the loading roller path to the stacker crane, and pick up the unloading materials from the stacker crane to the unloading roller path; the stacker crane is used to transport the loading materials from the loading roller path to the three-dimensional warehouse shelf, and transport the unloading materials from the three-dimensional warehouse shelf to the unloading roller path. Ensure that the materials can be automatically, accurately and efficiently stored and retrieved in an intelligent manner. When loading, according to the shape and size of the materials given by the upper-level information, when the materials are loaded through the roller path, the detection system rechecks the shape and size, the centering mechanism positions the loading position of the materials, and the truss manipulator is used to pick up the materials from the roller path, and then the control component is used to control the stacker crane to receive the materials from the truss manipulator, and then place the materials in the storage location in the three-dimensional warehouse shelf. When discharging, according to the material information that needs to be taken out by the upper level, the stacker crane takes out the materials from the corresponding storage location, and then the truss manipulator takes the materials from the stacker crane and transports them to the roller path for output, completing the entire operation process. After the control component allocates the storage location, calculates the most efficient path, the truss manipulator directly transports the materials from the incoming material roller path through the top of the three-dimensional warehouse to the stacker crane in the aisle of the three-dimensional warehouse shelf, and then the stacker crane realizes the warehousing, without the intervention of external equipment and personnel throughout the process, and is fully automated and intelligent operation.

[0054] Specifically, when the three-dimensional warehouse of the steel plate stacker crane operates, the load of a single piece of material can reach more than 1 ton, and the storage / retrieval operation process can be completed more than 20 times per hour. All materials can be intelligently arranged in the optimal storage location according to the shape and size specifications and the storage / retrieval plan information by the intelligent warehouse management system and the industrial control computer operation processing system of the three-dimensional warehouse.

[0055] Among them, the control component includes: a PLC general control system, an industrial control computer operation processing system and an intelligent warehouse management system for the three-dimensional warehouse; among them, the PLC general control system is used to control the truss manipulator to pick up the materials to the stacker crane; the intelligent warehouse management system for the three-dimensional warehouse is used to determine the storage location required by the materials; the industrial control computer operation processing system is used to calculate the walking path from the stacker crane to the storage location. After the industrial control computer operation processing system and the intelligent warehouse management system for the three-dimensional warehouse determine the storage location and the walking path, the PLC general control system controls the truss manipulator to pick up the materials.

[0056] Among them, the stacker includes: a roadway rail trolley 1, a lifting assembly 2 arranged on the roadway rail trolley 1, and a double-direction fork 3 arranged on the lifting assembly 2; among them, the double-direction fork is used to fix materials; the roadway rail trolley 1 is a sunken box rail trolley, and the box of the roadway rail trolley sinks to the inner side of the rail below the box; the lifting assembly 2 includes: two horizontally arranged driving lead screws 21, and a lifting mechanism 22 arranged on the two driving lead screws 21; the lifting assembly is used to drive the box to move up and down. There are no obstacles on both sides of the stacker, and the length of the material can be greater than the length of the stacker. This structure can also meet the transportation path of receiving materials from above the stacker, which is beneficial to space layout. In this embodiment, the stacker uses a fork-type lifting device with a new structure, and the lowest initial height can be below 600 mm. And when the output torque of the reduction motor is the same, the initial lifting force is greater.

[0057] Among them, the double-direction fork 3 is a movable fork. Among them, the spacing distance between the double-direction forks 3 can be adjusted according to the length of the material. By setting gears on the double-direction forks 3 and racks on the stretching mechanism, the movement of the double-direction fork 3 is realized. Driven by the gear-rack on the fork mechanism, it can move in the roadway of the stereoscopic warehouse shelf according to the length of the material, meet the loading, unloading and storage of materials with different lengths, and can feed materials to the stereoscopic warehouse shelf.

[0058] Among them, the lifting mechanism 22 is a diamond structure. Through the diamond lifting mechanism 22, the component force of the pulling force provided by the driving lead screw 21 can be evenly provided with an upward moment for the two fork arms. And when the lifting device drops to the lowest height, the angle between the diamond mechanism arm and the double plane is also larger, which is beneficial for the driving lead screw 21 to provide a greater component force for the fork arm, thereby increasing the load-bearing capacity at the lowest limit position. In the embodiment of the present invention, motors are used to provide driving force in both the driving lead screw and the roadway rail trolley 1. In specific applications, according to the specific actual situation, cylinders, electric cylinders, etc. can be selected to provide driving force, and it is not limited to the driving methods illustrated above, as long as it can provide appropriate driving force.

[0059] Among them, the stereoscopic warehouse shelf is a pipe-supported stereoscopic warehouse, and the double-direction fork 3 can penetrate up and down between the pipes, which is beneficial for the storage of materials.

[0060] Among them, the truss manipulator is connected to the material through a pneumatic suction cup. In the embodiment of the present invention, the truss manipulator is connected to the material through a pneumatic suction cup. In specific applications, according to the specific actual situation, the truss manipulator can select magnetic adsorption and other methods to pick up materials, and it is not limited to the picking methods illustrated above.

[0061] Among them, each layer of the three-dimensional library shelf is divided into several small grid storage locations without barriers. When in use, the required small grid storage locations can be intelligently allocated according to the length of the materials, which can maximize the utilization rate of the storage locations and is also conducive to the intelligent warehouse management system to efficiently coordinate the incoming and outgoing material operations.

[0062] A method for loading and unloading materials in a three-dimensional library includes the following steps:

[0063] S1: When loading materials, select the target material to be loaded according to the loading information, and place the target material on the loading roller path;

[0064] S2: Control the truss manipulator through the control component to transfer the target material on the loading roller path to the stacker, and control the stacker to transport the target material to the three-dimensional library shelf;

[0065] S3: When unloading materials, control the stacker to select the target material to be unloaded from the three-dimensional library shelf through the control component;

[0066] S4: Control the truss manipulator through the control component to transfer the target material to be unloaded from the stacker to the unloading roller path, and transport the target material to be unloaded to the preset position through the unloading roller path.

[0067] In step S1, when loading materials, select the target material to be loaded according to the loading information, and place the target material to be loaded on the roller path, including: inspecting the target material to be loaded through the detection system; and positioning the loading position of the target material to be loaded through the centering mechanism.

[0068] To sum up, according to the outer dimension of the material given by the upper-level information, when the material is loaded through the roller path, the detection system rechecks the outer dimension. For the material with qualified outer dimension, the centering mechanism positions the loading position of the material, and the industrial control computer operation processing system and the intelligent warehouse management system of the three-dimensional library determine the storage location and the walking path. The PLC total control system controls the truss manipulator to pick up the material from the roller path. At the same time, the truss manipulator moves from above the three-dimensional library shelf to the receiving position in the aisle of the three-dimensional library shelf, the two-way fork 3 expands to the material matching distance, and finally the two-way fork 3 rises to receive the material from the truss manipulator, and then places the material in the predetermined storage location. The warehouse management system records the inventory data to complete the loading and warehousing process. Secondly, according to the material information to be taken out required by the upper level, the stacker displaces and rises, expands to the material matching distance, and at the same time the truss manipulator moves to the picking position to wait for picking. After the stacker takes out the material from the corresponding storage location and rises, the truss manipulator picks up the material from the stacker, and then transports it to the roller path for discharging. The roller path transports the material out to complete the outbound and unloading process.

[0069] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any regard, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Accordingly, all changes that fall within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A steel plate stacker three-dimensional warehouse, characterized in that: include: Control components, stackers, truss manipulators, three-dimensional warehouse shelves, roller tables, centering mechanisms and detection systems; among them, The truss manipulator, the stacker, the centering mechanism and the detection system are electrically connected to the control assembly; The roller conveyor includes a loading roller conveyor and a unloading roller conveyor. The feeding roller is used to convey the feeding material; The unloading roller is used to convey the unloading materials; The control component is used to control the truss manipulator and the stacker; The centering mechanism is used to locate the loading position of the loading material; The detection system is used to detect and review the shape and size of the material; The truss manipulator is used to pick up the loading material from the loading roller to the stacker, and to pick up the unloading material from the stacker to the unloading roller; The stacker is used to transport the loading materials from the loading roller to the shelves of the three-dimensional warehouse, and to transport the unloading materials from the shelves of the three-dimensional warehouse to the unloading roller.

2. The steel plate stacker three-dimensional warehouse according to claim 1, characterized in that: The control components include: PLC master control system, industrial computer computing system and stereoscopic warehouse intelligent warehouse management system; The PLC master control system is used to control the truss manipulator to pick up the material to the stacker; The intelligent warehouse management system of the three-dimensional warehouse is used to determine the storage location required for the material; The industrial computer computing and processing system is used to calculate the walking path from the stacker to the storage location.

3. The steel plate stacker three-dimensional warehouse according to claim 2, characterized in that: The stacker comprises: a lane track trolley, a lifting assembly arranged in the lane track trolley, and a bidirectional fork arranged on the lane track trolley; wherein, The bidirectional fork is used to fix the material; The laneway track trolley is a sunken box-type track trolley, and the box of the laneway track trolley sinks to the inner side of the track at the lower end; The lifting assembly comprises: two horizontally arranged driving screw rods, and a lifting mechanism arranged on the two driving screw rods; The lifting assembly is used to drive the box to move up and down.

4. The steel plate stacker three-dimensional warehouse according to claim 3, characterized in that: The bidirectional fork is a mobile fork, wherein: The spacing distance between the two-way forks can be adjusted according to the length of the material.

5. The steel plate stacker three-dimensional warehouse according to claim 3, characterized in that: The pulling mechanism is a diamond structure.

6. The steel plate stacker three-dimensional warehouse according to claim 1, characterized in that: The three-dimensional warehouse shelves are tube-supported three-dimensional warehouses.

7. The steel plate stacker three-dimensional warehouse according to claim 1, characterized in that: The truss manipulator is connected to the material via a pneumatic suction cup.

8. The steel plate stacker three-dimensional warehouse according to claim 1, characterized in that: Each layer of the three-dimensional warehouse shelf is divided into a plurality of unobstructed small storage locations.

9. A method for loading and unloading materials in a three-dimensional warehouse, for loading and unloading materials in a three-dimensional warehouse for a steel plate stacker according to any one of claims 1 to 8, characterized in that: The method comprises: S1: When loading, select the target material to be loaded according to the loading information, and place the target material on the loading roller; S2: Control the truss manipulator through the control component to transfer the target material on the loading roller to the stacker, and control the stacker to transport the target material to the three-dimensional warehouse shelf; S3: When unloading materials, the control component controls the stacker to select target materials to be unloaded from the shelves of the three-dimensional warehouse; S4: Control the truss manipulator through the control component to transfer the target material to be unloaded from the stacker to the unloading roller, and transport the target material to be unloaded to a preset position through the unloading roller.

10. The method for loading and unloading materials in a three-dimensional warehouse according to claim 9, characterized in that: In step S1, when loading materials, a target material to be loaded is selected according to the loading information, and the target material to be loaded is placed on the loading roller, including: Inspecting the target material to be loaded by a detection system; and, The loading position of the target material to be loaded is positioned by a centering mechanism.

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