Three-dimensional automatic storing and taking device for steel pipes

Abstract

The invention relates to the technical field of steel pipes, in particular to a three-dimensional automatic storing and taking device for steel pipes, which comprises a base, a conveying mechanism is fixedly connected to the front side of the top of the base, a groove is formed in one side, aligned with the conveying mechanism, of the front side of the top of the base, and the rear side of the base is concave. The device comprises a base, the inner side of the rear side of the base is fixedly connected with a sliding mechanism, the middle of the right side of the base is fixedly connected with a mechanical arm placing table, and the top of the mechanical arm placing table is fixedly connected with a taking mechanical arm. The automatic storing, taking and cleaning process of the steel pipes is achieved. The whole device is ingenious in design, through cooperative work of the sliding mechanism, the conveying mechanism, the mechanical arm containing table and the taking mechanical arm, rapid storing and taking of the steel pipes are achieved, quality detection can be conducted on the steel pipes in the storing and taking process, and the quality of the steel pipes is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of steel pipes, and more specifically, the present invention relates to a three-dimensional automatic storage and retrieval device for steel pipes. Background Art

[0002] A steel pipe refers to a long strip of steel with a hollow cross-section and no seams around it. The steel pipe has a hollow cross-section, and its length is much greater than the diameter or circumference. It is divided into circular, square, rectangular, and special-shaped steel pipes according to the cross-sectional shape; it is divided into carbon structural steel pipes, low-alloy structural steel pipes, alloy steel pipes, and composite steel pipes according to the material; it is divided into steel pipes for conveying pipelines, engineering structures, thermal equipment, petrochemical industries, machinery manufacturing, geological drilling, high-pressure equipment, etc. according to the use; it is divided into seamless steel pipes and welded steel pipes according to the production process. Among them, seamless steel pipes are further divided into hot-rolled and cold-rolled (drawn) types, and welded steel pipes are further divided into straight-seam welded steel pipes and spiral-seam welded steel pipes. Steel pipes are not only used for conveying fluids and powdered solids, exchanging heat energy, manufacturing mechanical parts and containers, but also an economical steel. Using steel pipes to manufacture building structure grids, supports, and mechanical brackets can reduce the weight, save 20-40% of metal, and can realize factory mechanized construction. Using steel pipes to manufacture highway bridges can not only save steel and simplify construction, but also greatly reduce the area of the coating protection layer, saving investment and maintenance costs. The present invention proposes a three-dimensional automatic storage and retrieval device for steel pipes, aiming to achieve automatic storage and retrieval after the steel pipes are processed, improve production efficiency, and reduce labor costs.

[0003] According to the patent document: CN104229367B, an automatic three-dimensional storage and retrieval device for storing and retrieving steel pipes, which consists of several units, including a bundling removal rack, an inbound unit, a box-type three-dimensional shelf, an outbound unit, an outbound temporary storage rack, and a supporting control system and warehouse management system. Its technical solution is: the bundled steel pipes are unbundled into single steel pipes on the bundling removal rack, roll to the lower end by gravity, the steel pipes are taken out by the inbound unit and stored in the box-type three-dimensional shelf, roll to the lower end by gravity, and then the steel pipes are taken out by the outbound unit and placed on the outbound temporary storage rack, waiting for subsequent production. The supporting warehouse management system designates storage locations for the steel pipes and issues instructions to retrieve the steel pipes according to the production plan. After receiving the instructions, the supporting control system controls the coordinated operation of each unit device. Compared with the prior art, the present invention has a simple structure, is easy to use, stores and retrieves steel pipes by gravity, can save a large amount of electric power resources, and the storage unit is a box-type structure with higher strength than the ordinary cantilever beam structure.

[0004] When performing the access operation of steel pipes, a method is usually adopted, that is, allowing multiple steel pipes to roll down along a sliding skateboard. However, this operation method often causes the steel pipes to collide with each other, resulting in damage to the surface of the steel pipes. More seriously, this kind of collision may also cause the deformation of the steel pipes, which not only affects the quality of the steel pipes, but also has a negative impact on their use effect. In addition, during the process of accessing and conveying steel pipes, it is often impossible to detect cracks on the surface of the steel pipes, nor can the floating ash on the surface of the steel pipes stored for a long time be effectively cleaned. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a three-dimensional automatic access device for steel pipes. The technical problem to be solved by the present invention is that the steel pipes collide with each other, resulting in damage to the surface of the steel pipes and causing deformation of the steel pipes, which not only affects the quality of the steel pipes, but also has a negative impact on their use effect. In addition, during the process of accessing and conveying steel pipes, it is impossible to detect cracks on the surface of the steel pipes, nor can the floating ash on the surface of the steel pipes stored for a long time be effectively cleaned.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: A three-dimensional automatic access device for steel pipes, including a base. The front side of the top of the base is fixedly connected with a conveying mechanism. A groove is opened on one side of the front side of the top of the base that is aligned with the conveying mechanism. The rear side of the base is concave. A sliding mechanism is fixedly connected to the inner side of the rear side of the base. The middle part of the right side of the base is fixedly connected with a robotic arm placement table, and a picking robotic arm is fixedly connected to the top of the robotic arm placement table; The sliding mechanism includes a bottom plate; The conveying mechanism includes an intermittent conveying component, and a cleaning component is fixedly connected to the top of the intermittent conveying component; The intermittent conveying component includes an intermittent conveying base, and a moving component is arranged inside the intermittent conveying base.

[0007] As a further solution of the present invention: on the left and right sides of the front side of the top of the bottom plate, side vertical plates are fixedly connected. Convex vertical plates are fixedly connected to the tops of the two side vertical plates. A horizontal guide plate is fixedly connected to the top of the rear side inside the two convex vertical plates. A detection camera is arranged on the front side of the horizontal guide plate.

[0008] As a further solution of the present invention: at the inner top of the two side vertical plates, there are fixedly connected with low-arc-shaped clamping plates. At the bottom of the middle part of the rear side of the right side vertical plate, there is fixedly connected with a motor connection block. At the top of the motor connection block, there is fixedly connected with a motor. The output end of the motor extends to the inner side of the two side vertical plates and is fixedly connected with a rotating rod. The left end of the rotating rod is rotatably connected to the middle part of the inner side of the left side vertical plate. On the left and right sides of the outer wall of the rotating rod, there are fixedly connected with turntables. On the outer walls of the two turntables, there are annularly arrayed turntable semi-circular grooves.

[0009] As a further solution of the present invention: at the rear side of the inner sides of the two side vertical plates, there is fixedly connected with a concave-shaped inclined plate. At the rear sides of the left and right sides of the concave-shaped inclined plate, there are fixedly connected with concave-shaped inclined plate support rods. The bottoms of the two concave-shaped inclined plate support rods are fixedly connected to the two sides of the rear side of the top of the bottom plate. At the middle part of the front side of the bottom plate, there is fixedly connected with a concave-shaped front inclined plate. At the rear sides of the left and right sides of the concave-shaped front inclined plate, there are fixedly connected with second spring connection blocks. At the top of the front side of the inner side of the concave-shaped front inclined plate, there is fixedly connected with a columnar cross bar. On the outer wall of the columnar cross bar, there is rotatably connected a baffle plate. At the bottoms of the left and right sides of the baffle plate, there are fixedly connected with columnar short rods. At the outer ends of the two columnar short rods, there are fixedly connected with spring connection blocks. At the rear sides of the two spring connection blocks, there are fixedly connected with springs. The rear ends of the two springs are fixedly connected to the front sides of the two second spring connection blocks. At the bottom parts of the front sides of the left and right sides of the concave-shaped front inclined plate, there are fixedly connected with connecting blocks.

[0010] As a further solution of the present invention: at the four sides of the bottom of the bottom plate, there are fixedly connected with support vertical rods. At one side of the inner sides of the four support vertical rods at the bottom of the bottom plate, there is fixedly connected with a water tank.

[0011] As a further solution of the present invention: the intermittent transmission base includes two L-shaped side plates. At the front and rear sides of the outer bottoms of the two L-shaped side plates, there are fixedly connected with vertical connecting rods. At the inner tops of the two L-shaped side plates, there are fixedly connected with groove support plates. At the rear sides of the outer sides of the two groove support plates, they are fixedly connected to the inner sides of the two connecting blocks. On the tops of the two groove support plates, there are provided with a plurality of semi-circular grooves.

[0012] As a further solution of the present invention: on the inner sides of the two L-shaped side plates, there are fixedly connected with a plurality of second rotating block columnar connecting rods. On the inner sides of the left and right groups of the second rotating block columnar connecting rods, there are rotatably connected with second rotating blocks. At the middle part of the outer bottom of the right L-shaped side plate, there is fixedly connected with a second motor. The output end of the second motor extends to the inner side of the two L-shaped side plates and is fixedly connected with a transmission turntable rotating rod. The left end of the transmission turntable rotating rod is fixedly connected with a transmission turntable. A track is sleeved on the outer wall of the transmission turntable.

[0013] As a further solution of the present invention: A plurality of second transfer turntables are sleeved on the inner wall of the crawler on both the front and rear sides of the transfer turntable. A rotating block columnar connecting cross bar is fixedly connected to the inner wall of each of the plurality of second transfer turntables. Rotating blocks are fixedly connected to the left and right ends of each of the plurality of rotating block columnar connecting cross bars. A blanking abutting block is fixedly connected to the top of the front side of each of the two L-shaped side plates. An intermittent transfer assembly blanking inclined plate is fixedly connected to the front side of the two blanking abutting blocks. The front sides of the tops of the two blanking abutting blocks are both arc-shaped cut surfaces.

[0014] As a further solution of the present invention: The moving assembly includes two transfer groove plates. A plurality of articulated vertical rods are fixedly connected to the bottom sides of the two transfer groove plates. The bottom sides of the left and right groups of articulated vertical rods are rotatably connected to the inner bottoms of the left and right multiple rotating blocks and second rotating blocks. Semi-circular grooves identical to the tops of the two groove supporting plates are provided on the tops of the two transfer groove plates. The rear sides of the tops of the two transfer groove plates are in contact with the bottom of the rear side of the baffle.

[0015] As a further solution of the present invention: The cleaning assembly includes two groups of spray head connecting vertical rods. The bottoms of the two groups of spray head connecting vertical rods are fixedly connected to the multiple sides of the tops of the two L-shaped side plates. Spray head water passing rods are fixedly connected to the inner walls of the tops of the two groups of spray head water passing rods. Cleaning spray heads are fixedly connected to the inner ends of the two groups of spray head water passing rods. Water passing side plates are fixedly connected to the outer ends of the two groups of spray head water passing rods. The outer sides of the two water passing side plates are fixedly connected to the tops of the inner sides of the left and right groups of moving assemblies. Water pipes are fixedly connected to the outer sides of the two water passing side plates. One ends of the two water pipes away from the water passing side plates are fixedly connected to the left and right sides of the water tank.

[0016] The beneficial effects of the present invention are as follows: By providing a base, a robotic arm placement table, a picking robotic arm, a sliding mechanism and a conveying mechanism, the present invention realizes the automatic storage and cleaning process of steel pipes. The whole device is ingeniously designed. Through the coordinated work of the sliding mechanism, the conveying mechanism, the robotic arm placement table and the picking robotic arm, not only the rapid storage and retrieval of steel pipes are realized, but also the quality inspection of steel pipes can be carried out during the storage and retrieval process to ensure the quality of steel pipes, and the intermittent conveying of steel pipes is ensured, effectively avoiding the mutual collision between steel pipes, which may cause damage to the surface of steel pipes and deformation of steel pipes. At the same time, the setting of the cleaning assembly can clean the steel pipes during the transfer process, greatly improving the cleanliness of the steel pipes and providing convenience for subsequent processing links. In addition, the device has a compact structure, small floor area, simple operation, greatly improves work efficiency, reduces labor costs, and has high practical value and application prospects. Description of the Drawings

[0017] Figure 1 It is a perspective structure diagram of the main body of the present invention; Figure 2 Schematic diagram of the three-dimensional separation structure of the main body of the present invention; Figure 3 Schematic diagram of the three-dimensional separation structure of the main part of the present invention; Figure 4 Schematic diagram of the three-dimensional structure of the sliding mechanism of the present invention; Figure 5 Schematic diagram of the three-dimensional structure of the conveying mechanism of the present invention; Figure 6 Schematic diagram of the three-dimensional separation structure of the conveying mechanism of the present invention; Figure 7 Schematic diagram of the three-dimensional separation structure of the intermittent conveying assembly of the present invention; Figure 8 Schematic diagram of the three-dimensional structure of the intermittent conveying base of the present invention; Figure 9 Schematic diagram of the three-dimensional structure of the moving assembly of the present invention; Figure 10 Schematic diagram of the three-dimensional structure of the cleaning assembly of the present invention.

[0018] In the figure: 1. Base; 2. Manipulator placement table; 3. Taking manipulator; 4. Sliding mechanism; 41. Bottom plate; 42. Side vertical plate; 43. Convex vertical plate; 44. Horizontal guide plate; 45. Detection camera; 46. Low arc-shaped clamping plate; 47. Motor connection block; 48. Motor; 49. Rotating rod; 410. Turntable; 411. Semi-circular groove of the turntable; 412. Concave inclined plate support rod; 413. Concave inclined plate; 414. Support vertical rod; 415. Water tank; 416. Concave front inclined plate; 417. Columnar cross bar; 418. Baffle; 419. Columnar short rod; 4110. Spring connection block; 4111. Spring; 4112. Second spring connection block; 4113. Connecting block; 5. Conveying mechanism; 51. Intermittent conveying assembly; 511. Intermittent conveying base; 5111. L-shaped side plate; 5112. Vertical connecting rod; 5113. Grooved vertical support plate; 5114. Semi-circular groove; 5115. Second motor; 5116. Conveying turntable rotating rod; 5117. Conveying turntable; 5118. Track; 5119. Second conveying turntable; 51110. Rotating block columnar connecting cross bar; 51111. Rotating block; 51112. Second rotating block columnar connecting rod; 51113. Second rotating block; 51114. Feeding abutting block; 51115. Intermittent conveying assembly feeding inclined plate; 512. Moving assembly; 5121. Transfer groove plate; 5122. Hinged vertical rod; 52. Cleaning assembly; 521. Sprayer connecting vertical rod; 522. Sprayer water passing rod; 523. Cleaning sprayer; 524. Water passing side plate; 525. Water pipe. Detailed implementation manners

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] As Figure 1-3 shown, the present invention provides a three-dimensional automatic storage and retrieval device for steel pipes, including a base 1. A conveying mechanism 5 is fixedly connected to the front side of the top of the base 1. A groove is formed on one side of the front side of the top of the base 1 that is aligned with the conveying mechanism 5. The rear side of the base 1 is concave. A sliding mechanism 4 is fixedly connected to the inner side of the rear side of the base 1. A robotic arm placement table 2 is fixedly connected to the middle of the right side of the base 1. A picking robotic arm 3 is fixedly connected to the top of the robotic arm placement table 2.

[0021] As Figure 4-10As shown in the figure, the sliding mechanism 4 includes a bottom plate 41. On the left and right sides of the front side of the top of the bottom plate 41, there are fixedly connected side vertical plates 42. On the top of the two side vertical plates 42, there are fixedly connected convex vertical plates 43. On the top of the rear side of the inner sides of the two convex vertical plates 43, there is fixedly connected a horizontal guide plate 44. In the front side of the horizontal guide plate 44, there is a detection camera 45. On the inner top of the two side vertical plates 42, there is fixedly connected a low arc-shaped clamping plate 46. At the bottom of the middle part of the rear side of the right side vertical plate 42, there is fixedly connected a motor connection block 47. On the top of the motor connection block 47, there is fixedly connected a motor 48. The output end of the motor 48 extends to the inner sides of the two side vertical plates 42 and is fixedly connected with a rotating rod 49. The left end of the rotating rod 49 is rotatably connected to the middle part of the inner side of the left side vertical plate 42. On the left and right sides of the outer wall of the rotating rod 49, there are fixedly connected turntables 410. On the outer walls of the two turntables 410, there are annularly arranged turntable semi-circular grooves 411. On the rear side of the inner sides of the two side vertical plates 42, there is fixedly connected a concave inclined plate 413. On the rear sides of the left and right sides of the concave inclined plate 413, there are fixedly connected concave inclined plate support rods 412. The bottoms of the two concave inclined plate support rods 412 are fixedly connected to the two sides of the rear side of the top of the bottom plate 41. In the middle part of the front side of the bottom plate 41, there is fixedly connected a concave front inclined plate 416. On the rear sides of the left and right sides of the concave front inclined plate 416, there are fixedly connected second spring connection blocks 4112. On the top of the front side of the inner side of the concave front inclined plate 416, there is fixedly connected a columnar cross bar 417. On the outer wall of the columnar cross bar 417, there is a rotatably connected baffle 418. On the bottoms of the left and right sides of the baffle 418, there are fixedly connected columnar short rods 419. On the outer ends of the two columnar short rods 419, there are fixedly connected spring connection blocks 4110. On the rear sides of the two spring connection blocks 4110, there are fixedly connected springs 4111. The rear ends of the two springs 4111 are fixedly connected to the front sides of the two second spring connection blocks 4112. On the front sides of the bottoms of the left and right sides of the concave front inclined plate 416, there are fixedly connected connection blocks 4113. On the four sides of the bottom of the bottom plate 41, there are fixedly connected support vertical rods 414. On one side of the inner sides of the four support vertical rods 414 at the bottom of the bottom plate 41, there is fixedly connected a water tank 415. The conveying mechanism 5 includes an intermittent conveying component 51. On the top of the intermittent conveying component 51, there is fixedly connected a cleaning component 52. The intermittent conveying component 51 includes an intermittent conveying base 511. Inside the intermittent conveying base 511, there is a moving component 512. The intermittent conveying base 511 includes two L-shaped side plates 5111. On the front and rear sides of the outer bottoms of the two L-shaped side plates 5111, there are fixedly connected vertical connecting rods 5112. On the inner tops of the two L-shaped side plates 5111, there are fixedly connected groove support plates 5113. The rear sides of the outer sides of the two groove support plates 5113 are fixedly connected to the inner sides of the two connection blocks 4113. On the tops of the two groove support plates 5113, there are provided a plurality of semi-circular grooves 5114. On the inner sides of the two L-shaped side plates 5111, there are fixedly connected a plurality of second rotating block columnar connecting rods 51112. The inner sides of the left and right groups of second rotating block columnar connecting rods 51112 are rotatably connected with second rotating blocks 51113.At the middle of the bottom on the outer side of the right L-shaped side plate 5111, a second motor 5115 is fixedly connected. The output end of the second motor 5115 extends to the inner side of the two L-shaped side plates 5111 and is fixedly connected with a conveyor turntable rotating rod 5116. The left end of the conveyor turntable rotating rod 5116 is fixedly connected with a conveyor turntable 5117. A crawler 5118 is sleeved on the outer wall of the conveyor turntable 5117. A plurality of second conveyor turntables 5119 are sleeved on the inner wall of the crawler 5118 on both the front and rear sides of the conveyor turntable 5117. The inner walls of the plurality of second conveyor turntables 5119 are fixedly connected with rotating block columnar connecting crossbars 51110. The left and right ends of the plurality of rotating block columnar connecting crossbars 51110 are fixedly connected with rotating blocks 51111. At the top of the front side of the two L-shaped side plates 5111, blanking abutting blocks 51114 are fixedly connected. An intermittent conveyor assembly blanking inclined plate 51115 is fixedly connected to the front side of the two blanking abutting blocks 51114. The front sides of the tops of the two blanking abutting blocks 51114 are arc-shaped cut surfaces. The moving assembly 512 includes two transfer groove plates 5121. A plurality of hinge vertical rods 5122 are fixedly connected to the bottom sides of the two transfer groove plates 5121. The bottom sides of the left and right groups of hinge vertical rods 5122 are rotatably connected to the inner bottoms of the left and right plurality of rotating blocks 51111 and the second rotating blocks 51113. Semi-circular grooves 5114 identical to the tops of the two groove supporting plates 5113 are provided at the tops of the two transfer groove plates 5121. The rear sides of the tops of the two transfer groove plates 5121 are in contact with the bottom of the rear side of the baffle 418. The cleaning assembly 52 includes two groups of nozzle connecting vertical rods 521. The bottoms of the two groups of nozzle connecting vertical rods 521 are fixedly connected to the top sides of the two L-shaped side plates 5111. Nozzle water passing rods 522 are fixedly connected to the inner walls of the tops of the two groups of nozzle connecting vertical rods 521. Cleaning nozzles 523 are fixedly connected to the inner ends of the two groups of nozzle water passing rods 522. Water passing side plates 524 are fixedly connected to the outer ends of the two groups of nozzle water passing rods 522. The outer sides of the two water passing side plates 524 are fixedly connected to the tops of the inner sides of the left and right groups of moving assemblies 512. Water pipes 525 are fixedly connected to the outer sides of the two water passing side plates 524. The ends of the two water pipes 525 away from the water passing side plates 524 are fixedly connected to the left and right sides of the water tank 415; When the steel pipe is taken out, the steel pipe slides down through the concave inclined plate 413. When the steel pipe slides down, at this time, the motor 48 is started. The output end of the motor 48 drives the rotating rod 49 to rotate. The rotating rod 49 drives the two turntables 410 to rotate synchronously. The turntable semi-circular grooves 411 opened on the outer wall of the turntable 410 are clamped into the turntable semi-circular grooves 411 opened on the turntable 410 by the inclined plate sliding on the concave inclined plate 413 during the rotation process. At this time, the turntable 410 rotates and drives the steel pipe clamped inside the turntable semi-circular groove 411 to rotate. The two low arc-shaped clamping plates 46 ensure that the steel pipe will not fall when moving through the rotation of the turntable 410, so that the steel pipe smoothly slides onto the concave front inclined plate 416. When the steel pipe clamped into the turntable semi-circular groove 411 provided on the turntable 410 rotates to the top, at this time, the detection camera 45 is started to detect the steel pipe. The setting of the detection camera 45 can timely detect whether there are defects or damages on the surface of the steel pipe to ensure the quality of the taken-out steel pipe. When the steel pipe rotates to the front side and faces the bottom, due to inertia, the steel pipe drops and rolls to the inside of the concave front inclined plate 416. At this time, since the conveying mechanism 5 is not started, the steel pipe is blocked by the baffle 418 on the front side inside the concave front inclined plate 416. If it is a defective steel pipe, at this time, the picking manipulator 3 is started to take out the steel pipe blocked on the front side inside the concave front inclined plate 416 and place it aside. When there are no defects on the steel pipe, at this time, the second motor 5115 is started. The output end of the second motor 5115 drives the conveying turntable rotating rod 5116 to rotate. The conveying turntable rotating rod 5116 drives the conveying turntable 5117 to rotate synchronously. The conveying turntable 5117 rotates to drive the track 5118 to rotate. The track 5118 rotates to drive multiple second conveying turntables 5119 on the front and back sides to rotate. The multiple second conveying turntables 5119 rotate to drive the multiple rotating block columnar connecting crossbars 51110 to rotate. The multiple rotating block columnar connecting crossbars 51110 rotate to drive the multiple rotating blocks 51111 to rotate. The multiple rotating blocks 51111 rotate to drive the transfer groove plates 5121 provided at the tops of the multiple hinged vertical rods 5122 on the left and right sides to perform arc-shaped intermittent movements. When the two transfer groove plates 5121 draw arcs upward, at this time, the rear sides of the two transfer groove plates 5121 pull the baffle 418 to rotate, so that the non-defective steel pipe inside the concave front inclined plate 416 slides onto the inner walls of the two semi-circular grooves 5114 at the rearmost side of the two groove supporting plates 5113, and the steel pipe is moved forward by one body position when the two transfer groove plates 5121 perform an arc-shaped movement again. Repeating this process, the non-defective steel pipes falling continuously through the concave front inclined plate 416 will be orderly transferred to the next processing link. During this process, the arc-shaped intermittent movement design of the transfer groove plate 5121 not only ensures the stability and accuracy of the steel pipe transfer, but also greatly improves the efficiency of steel pipe storage and retrieval. At the same time, the device detects the quality of the steel pipe through the detection camera 45, ensuring the quality of the taken-out steel pipe and preventing the inflow of defective steel pipes; Meanwhile, two water-passing side plates 524 draw water from the water tank 415 through a water pipe 525 to clean the steel pipe. The cleaning nozzles 523 are arranged to evenly spray the surface of the steel pipe, improving the cleaning effect and ensuring the cleanliness of the steel pipe. When the steel pipe is moved to the front side of the intermittent conveying assembly 51, the foremost steel pipe is pushed by the top of the rear side of two blanking abutting blocks 51114 and then falls inside the blanking inclined plate 51115 of the intermittent conveying assembly, and slides down along the blanking inclined plate 51115 of the intermittent conveying assembly into a pre-set collection tool.

[0022] Working principle of the present invention: When the steel pipe is taken out, the steel pipe slides down through the concave inclined plate 413. When the steel pipe slides down, at this time, the motor 48 is started. The output end of the motor 48 drives the rotating rod 49 to rotate. The rotating rod 49 drives the two turntables 410 to rotate synchronously. The turntable semi-circular grooves 411 opened on the outer wall of the turntable 410 are engaged with the inclined plate sliding on the concave inclined plate 413 during the rotation process. At this time, the turntable 410 rotates to drive the steel pipe stuck inside the turntable semi-circular groove 411 of the turntable to rotate. The two low arc-shaped clamping plates 46 ensure that the steel pipe will not fall when moving through the rotation of the turntable 410, so that the steel pipe smoothly slides down to the concave front inclined plate 416. When the steel pipe stuck in the turntable semi-circular groove 411 provided on the turntable 410 rotates to the top, at this time, the detection camera 45 is started to detect the steel pipe. The setting of the detection camera 45 can timely detect whether there are defects or damages on the surface of the steel pipe to ensure the quality of the taken-out steel pipe. When the steel pipe rotates to the front side and faces the bottom, due to inertia, the steel pipe falls and rolls to the inside of the concave front inclined plate 416. At this time, since the conveying mechanism 5 is not started, the steel pipe is blocked by the baffle 418 at the front side inside the concave front inclined plate 416. If it is a defective steel pipe, at this time, the picking manipulator 3 is started to take out the steel pipe stuck at the front side inside the concave front inclined plate 416 and place it aside. When there is no defect in the steel pipe, at this time, the second motor 5115 is started. The output end of the second motor 5115 drives the conveying turntable rotating rod 5116 to rotate. The conveying turntable rotating rod 5116 drives the conveying turntable 5117 to rotate synchronously. The rotation of the conveying turntable 5117 drives the track 5118 to rotate. The rotation of the track 5118 drives the multiple second conveying turntables 5119 on the front and rear sides to rotate. The rotation of the multiple second conveying turntables 5119 drives the multiple rotating block columnar connecting crossbars 51110 to rotate. The rotation of the multiple rotating block columnar connecting crossbars 51110 drives the multiple rotating blocks 51111 to rotate. The rotation of the multiple rotating blocks 51111 drives the transfer groove plates 5121 provided at the tops of the multiple articulated vertical rods 5122 on the left and right sides to perform arc-shaped intermittent movement. When the two transfer groove plates 5121 draw an arc upward, at this time, the rear sides of the two transfer groove plates 5121 pull the baffle 418 to rotate, so that the steel pipe without defects inside the concave front inclined plate 416 slides down to the inner walls of the two semi-circular grooves 5114 at the rearmost side of the two groove supporting plates 5113, and the steel pipe is moved forward by one body position when the two transfer groove plates 5121 perform an arc movement again. In this way, the steel pipes without defects are continuously dropped through the concave front inclined plate 416, and the steel pipes will be orderly transferred to the next processing link. At the same time, the two water passing side plates 524 extract water from the water tank 415 through the water pipe 525 to clean the steel pipe. The setting of the cleaning nozzle 523 can evenly spray the surface of the steel pipe to improve the cleaning effect and ensure the cleanliness of the steel pipe. When the steel pipe is transferred to the front side of the intermittent conveying assembly 51,At this time, the frontmost steel pipe is pushed by the rear top of the two blanking abutting blocks 51114 and then falls inside the blanking inclined plate 51115 of the intermittent conveying assembly, and slides down along the blanking inclined plate 51115 of the intermittent conveying assembly into the pre-set collection tool.

[0023] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional automatic storage and retrieval device for steel pipes, characterized in that: It includes a base (1). A conveying mechanism (5) is fixedly connected to the front side of the top of the base (1). A groove is provided on one side of the front side of the top of the base (1) that is aligned with the conveying mechanism (5). The rear side of the base (1) is concave. A sliding mechanism (4) is fixedly connected to the inner side of the rear side of the base (1). A robotic arm placement table (2) is fixedly connected to the middle of the right side of the base (1). A picking robotic arm (3) is fixedly connected to the top of the robotic arm placement table (2). The sliding mechanism (4) includes a bottom plate (41). The conveying mechanism (5) includes an intermittent conveying assembly (51). A cleaning assembly (52) is fixedly connected to the top of the intermittent conveying assembly (51). The intermittent conveying assembly (51) includes an intermittent conveying base (511). A moving assembly (512) is arranged inside the intermittent conveying base (511).

2. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 1, wherein: On the left and right sides of the front side of the top of the bottom plate (41), side vertical plates (42) are fixedly connected. Convex vertical plates (43) are fixedly connected to the tops of the two side vertical plates (42). A horizontal guide plate (44) is fixedly connected to the top of the rear side inside the two convex vertical plates (43). A detection camera (45) is arranged on the front side of the horizontal guide plate (44).

3. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 2, characterized in that: Low arc-shaped clamping plates (46) are fixedly connected to the inner tops of the two side vertical plates (42). A motor connection block (47) is fixedly connected to the bottom of the middle of the rear side of the right side vertical plate (42). A motor (48) is fixedly connected to the top of the motor connection block (47). The output end of the motor (48) extends to the inside of the two side vertical plates (42) and is fixedly connected to a rotating rod (49). The left end of the rotating rod (49) is rotatably connected to the middle of the inside of the left side vertical plate (42). Discs (410) are fixedly connected to the left and right sides of the outer wall of the rotating rod (49). Semi-circular grooves (411) are annularly arranged on the outer walls of the two discs (410).

4. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 2, wherein: On the rear side of the inner sides of the two side vertical plates (42), a concave inclined plate (413) is fixedly connected. On the rear sides of the left and right sides of the concave inclined plate (413), concave inclined plate support rods (412) are fixedly connected. The bottoms of the two concave inclined plate support rods (412) are fixedly connected to both sides of the rear side of the top of the bottom plate (41). In the middle of the front side of the bottom plate (41), a concave front inclined plate (416) is fixedly connected. On the rear sides of the left and right sides of the concave front inclined plate (416), second spring connection blocks (4112) are fixedly connected. At the top of the front side of the inner side of the concave front inclined plate (416), a columnar cross bar (417) is fixedly connected. An outer wall of the columnar cross bar (417) is rotatably connected to a baffle (418). At the bottoms of the left and right sides of the baffle (418), columnar short rods (419) are fixedly connected. Outer ends of the two columnar short rods (419) are fixedly connected to spring connection blocks (4110). On the rear sides of the two spring connection blocks (4110), springs (4111) are fixedly connected. Rear ends of the two springs (4111) are fixedly connected to the front sides of the two second spring connection blocks (4112). At the bottom of the front sides of the left and right sides of the concave front inclined plate (416), connection blocks (4113) are fixedly connected.

5. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 2, wherein: On the four sides of the bottom of the bottom plate (41), support vertical rods (414) are fixedly connected. On one side of the inner sides of the four support vertical rods (414) at the bottom of the bottom plate (41), a water tank (415) is fixedly connected.

6. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 1, wherein: The intermittent transmission base (511) includes two L-shaped side plates (5111). On the front and rear sides of the outer bottoms of the two L-shaped side plates (5111), vertical connecting rods (5112) are fixedly connected. On the inner tops of the two L-shaped side plates (5111), groove vertical support plates (5113) are fixedly connected. On the rear sides of the outer sides of the two groove vertical support plates (5113), they are fixedly connected to the inner sides of the two connection blocks (4113). On the tops of the two groove vertical support plates (5113), a plurality of semi-circular grooves (5114) are formed.

7. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 6, wherein: On the inner sides of the two L-shaped side plates (5111), a plurality of second rotating block columnar connecting rods (51112) are fixedly connected. On the inner sides of the left and right groups of the second rotating block columnar connecting rods (51112), second rotating blocks (51113) are rotatably connected. In the middle of the outer bottom of the right L-shaped side plate (5111), a second motor (5115) is fixedly connected. An output end of the second motor (5115) extends to the inner sides of the two L-shaped side plates (5111) and is fixedly connected to a transmission turntable rotating rod (5116). A left end of the transmission turntable rotating rod (5116) is fixedly connected to a transmission turntable (5117). An outer wall of the transmission turntable (5117) is sleeved with a track (5118).

8. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 7, characterized in that: On the inner wall of the crawler belt (5118), a plurality of second transfer turntables (5119) are sleeved on both the front and rear sides of the transfer turntable (5117). A rotating block columnar connecting cross bar (51110) is fixedly connected to the inner wall of each of the plurality of second transfer turntables (5119). Rotating blocks (51111) are fixedly connected to both the left and right ends of each of the plurality of rotating block columnar connecting cross bars (51110). Feeding abutting blocks (51114) are fixedly connected to the top of the front sides of the two L-shaped side plates (5111). An intermittent transfer assembly feeding inclined plate (51115) is fixedly connected to the front sides of the two feeding abutting blocks (51114). The front sides of the tops of the two feeding abutting blocks (51114) are arc-shaped cut surfaces.

9. A three-dimensional automatic storage and retrieval device for steel pipes according to claim 1, characterized in that: The moving assembly (512) includes two transfer groove plates (5121). A plurality of hinge vertical rods (5122) are fixedly connected to the bottom sides of the two transfer groove plates (5121). The bottom sides of the left and right groups of hinge vertical rods (5122) are rotatably connected to the inner bottoms of the rotating blocks (51111) and the second rotating blocks (51113) on the left and right sides. Semi-circular grooves (5114) identical to the tops of the two groove supporting plates (5113) are formed on the tops of the two transfer groove plates (5121). The rear sides of the tops of the two transfer groove plates (5121) are in contact with the bottom of the rear side of the baffle (418).

10. The three-dimensional automatic storage and retrieval device for steel pipes according to claim 1, wherein: The cleaning assembly (52) includes two groups of nozzle connecting vertical rods (521). The bottoms of the two groups of nozzle connecting vertical rods (521) are fixedly connected to the top sides of the two L-shaped side plates (5111). Nozzle water passing rods (522) are fixedly connected to the inner walls of the tops of the two groups of nozzle connecting vertical rods (521). Cleaning nozzles (523) are fixedly connected to the inner ends of the two groups of nozzle water passing rods (522). Water passing side plates (524) are fixedly connected to the outer ends of the two groups of nozzle water passing rods (522). The outer sides of the two water passing side plates (524) are fixedly connected to the tops of the inner sides of the left and right groups of moving assemblies (512). Water pipes (525) are fixedly connected to the outer sides of the two water passing side plates (524). The ends of the two water pipes (525) away from the water passing side plates (524) are fixedly connected to the left and right sides of the water tank (415).

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