Intelligent pipe fitting stereoscopic warehouse for robot access and operation method of intelligent pipe fitting stereoscopic warehouse

Abstract

The invention discloses an intelligent stereoscopic warehouse for pipe fittings stored and taken by a robot and an operation method of the intelligent stereoscopic warehouse. The stereoscopic warehouse comprises a goods shelf system and a robot type stacking system. The shelf system includes a first shelf, a second shelf, and a stackable frame, the first shelf and the second shelf being disposed on opposite sides of the stackable frame. The first shelf and the second shelf include a plurality of storage racks. The robot type stacking system comprises a lifting platform, a telescopic pallet fork and a robot, the lifting platform is arranged on the stacking type frame and can move in the longitudinal direction relative to the stacking type frame, the robot is arranged on the telescopic pallet fork, and the telescopic pallet fork is arranged on the lifting platform and can move in the transverse direction relative to the lifting platform. Therefore, the robot is close to the first goods shelf or the second goods shelf so as to place the pipe fittings on a certain storage rack of the first goods shelf or the second goods shelf. The goods shelf system of the intelligent pipe fitting stereoscopic warehouse for robot access is compact in structure, high in space utilization rate and large in storage capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of pipe storage, and in particular to an intelligent three-dimensional warehouse for pipes stored and retrieved by robots and an operating method thereof. Background Art

[0002] With the advancement of the times and the substantial increase in labor costs, the demand for intelligent pipeline prefabrication is becoming increasingly strong. To achieve full intelligent pipeline prefabrication, intelligent pipe storage is a key link.

[0003] Currently, there are three methods for storing pipe fittings: a vertical warehouse method after the pipe fittings are loaded into a material frame, a vertical warehouse method after the pipe fittings are installed with a pallet, and a vertical warehouse method after the pipe fittings are installed with a jacket module. However, these existing technologies have many drawbacks. For example, the storage method after the pipe fittings are loaded into a material frame cannot achieve automatic storage and retrieval of individual pipe fittings. The storage method after the pipe fittings are installed with a pallet and the vertical warehouse storage method after the pipe fittings are installed with a jacket module require the use of pallets or pallet modules. Therefore, they need to be loaded onto pallets or molds in the early stages of prefabrication, and they need to be removed from pallets or molds during the prefabrication process or at a later stage, which is a lot of work.

[0004] Therefore, it is necessary to invent a storage system in which pipe fittings can be directly stored without a carrier (eg, module, tray, material frame), so as to adapt to the intelligent demand of pipeline prefabrication. Summary of the Invention

[0005] Based on this, it is necessary to provide an intelligent three-dimensional warehouse for pipe fittings with robot storage and retrieval and an operation method thereof.

[0006] To solve the above technical problems, this application provides the following technical solutions:

[0007] An intelligent three-dimensional warehouse for pipe fittings with robot storage and retrieval, comprising:

[0008] a rack system comprising a first rack, a second rack, and a stacking frame, wherein the first rack and the second rack are disposed on opposite sides of the stacking frame and connected to the stacking frame, the first rack and the second rack comprising a plurality of storage racks arranged in a longitudinal direction and configured to accommodate pipes; and

[0009] A robotic stacking system includes a lifting platform, a telescopic fork and a robot, wherein the lifting platform is arranged on the stacking frame and can move longitudinally relative to the stacking frame, the robot is arranged on the telescopic fork and is configured to grasp the pipe, the telescopic fork is arranged on the lifting platform and can move laterally relative to the lifting platform, so that the robot approaches a storage rack of the first shelf or the second shelf to place the pipe on a storage rack of the first shelf or the second shelf.

[0010] Furthermore, the first shelf forms a first annular storage space and a first central space located in the first storage space, the first storage space having a first entrance communicating with the stacking frame, so as to allow the first storage space to surround the robot when the robot enters the first central space from the stacking frame;

[0011] The second shelf forms a ring-shaped second storage space and a second central space located in the second storage space, and the second storage space has a second entrance connected to the stacking frame to allow the second storage space to surround the robot when the robot enters the second central space from the stacking frame.

[0012] Further, the first shelf, the second shelf and the stacking frame include a plurality of columns extending along the longitudinal direction;

[0013] Several columns of the first shelf and a portion of several columns of the stacking frame form a supporting portion of an annular first storage space, and the storage rack is connected between two adjacent columns for storing pipe fittings;

[0014] Several columns of the second shelf and a portion of several columns of the stacking frame form a supporting portion of the annular second storage space, and the storage rack is connected between two adjacent columns for storing pipe fittings;

[0015] The lifting platform is arranged between several columns of the stacking frame.

[0016] Furthermore, the storage rack includes a support plate and a stop plate that are arranged obliquely to the horizontal direction, and the lower side of the support plate is arranged toward or away from the first central space or the second central space where it is located, and the stop plate is connected to the lower side of the support plate, thereby preventing the pipe fittings from falling when they are placed on the support plate.

[0017] Furthermore, the storage rack includes a flange storage rack, a reducer storage rack, a tee storage rack and / or an elbow storage rack;

[0018] Each of the flange storage rack, the reducer storage rack, the tee storage rack, and / or the elbow storage rack further includes a positioning pin disposed on the support plate and used to limit the position of the pipe fittings. The tee storage rack further includes a V-shaped block disposed between the positioning pin and the retaining plate, the upper surface of the V-shaped block forming opposing inclined surfaces for receiving the pipe fittings.

[0019] Furthermore, the robot includes a gripping arm that can rotate at all angles, and the gripping arm can be connected to grippers that adapt to pipes of different sizes;

[0020] The intelligent high-bay warehouse for pipe fittings further comprises a gripper quick-change system, which is arranged on one side of the robotic stacking system. The gripper quick-change system comprises a plurality of grippers for grabbing pipe fittings of different sizes.

[0021] Furthermore, the robot-accessed intelligent warehouse for pipe fittings further comprises a pipe fittings warehousing and conveying system;

[0022] The pipe warehousing and conveying system includes a warehousing base, a warehousing trolley, and a warehousing chuck. The warehousing base is connected to the stacking frame. The warehousing chuck is arranged on the warehousing trolley and is configured to clamp or release the pipe. The warehousing trolley is arranged on the warehousing base and can rotate and move relative to the warehousing base.

[0023] The pipe can be clamped by the storage chuck so as to be held on the storage trolley, and transported by the storage trolley to a position where the robot can grasp it.

[0024] Furthermore, the robot-accessed intelligent warehouse for pipe fittings further comprises a pipe fitting outbound conveying system;

[0025] The pipe outbound conveying system includes an outbound base, an outbound trolley, and an outbound chuck. The outbound base is connected to the first shelf or the second shelf. The outbound chuck is arranged on the outbound trolley and is configured to clamp or release the pipe. The outbound trolley is arranged on the outbound base and can rotate and move relative to the outbound base.

[0026] At least a portion of the outbound base is located outside the shelf system, so that the outbound trolley can transport the pipe to the outside of the shelf system;

[0027] The robot can grab the pipe fittings on the first shelf or the second shelf and place them on the outbound trolley. The outbound chuck clamps the pipe fittings and transports the pipe fittings to the outside of the shelf system.

[0028] Furthermore, the intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots also includes a three-dimensional warehouse control system;

[0029] The three-dimensional warehouse control system includes a visual system and a control device. The visual system is configured to identify the type and center position of the pipe to be grasped, and the control device is configured to receive information from the visual system and control the lifting platform, the telescopic fork, the robot, the inbound trolley, the inbound chuck, the outbound trolley and the outbound chuck according to the information.

[0030] The present application also provides a method for operating a pipe fitting intelligent high-bay warehouse with robot storage and retrieval as described in any of the above items, comprising the following steps:

[0031] S1: The control device obtains the type of the pipe to be grasped, determines the storage location of the pipe to be grasped, and determines the target position of the robot according to the storage location;

[0032] S2: The control device selects a suitable gripper according to the type of the pipe to be grasped and installs it on the gripping arm of the robot;

[0033] S3: The inbound chuck clamps the pipe placed on the inbound trolley, and the inbound trolley transports the pipe to a position where the robot's gripper can grasp it;

[0034] S4: The robot's gripper grabs the pipe fitting on the warehousing trolley;

[0035] S5: The control device controls the lifting platform and the telescopic fork to move, so that the robot moves to the target position;

[0036] S6: The robot's gripper transports the pipe to a storage location and then releases it.

[0037] Compared with the prior art, the shelf system of the intelligent stereoscopic warehouse for pipe fittings with robot access in the present application has a compact structure, high space utilization, and large storage capacity, which can greatly reduce the requirements for factory area and has greater economic benefits. In addition, pipe fittings can be placed on the support plate without relying on any carrier (such as modules, pallets, material frames). In addition, the robotic stacking system is arranged between the first shelf and the second shelf, so as to cover the maximum grasping range and have high operating efficiency. Furthermore, the upstream and downstream of storage (for example, warehousing and outbound transportation) can be completed by the pipe warehousing conveying system and the pipe warehousing conveying system, which are seamlessly connected to the robotic stacking system, which can greatly improve the intelligence level of the entire production line and improve storage and access efficiency.

[0038] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 This is a structural diagram of an intelligent three-dimensional warehouse for pipe fittings with robot storage and retrieval provided by this application;

[0041] Figure 2 yes Figure 1 A top view of the intelligent three-dimensional warehouse for pipe fittings with robotic storage and retrieval;

[0042] Figure 3 yes Figure 1 Another structural diagram of the intelligent warehouse for pipe fittings with robot storage and retrieval;

[0043] Figure 4 yes Figure 1 Another structural diagram of an intelligent three-dimensional warehouse for pipe fittings with robot storage and retrieval;

[0044] Figure 5 yes Figure 1 A schematic diagram of the structure of the pipe storage and conveying system, stacking frame and robotic stacking system of the intelligent three-dimensional warehouse for pipes with robot storage and retrieval;

[0045] Figure 6 yes Figure 1 A schematic diagram of the structure of the flange storage rack of the intelligent warehouse for pipe fittings with robot access;

[0046] Figure 7 yes Figure 1 Schematic diagram of the structure of the reducing pipe storage rack of the intelligent three-dimensional warehouse for pipe fittings with robot access;

[0047] Figure 8 yes Figure 1 A schematic diagram of the structure of a three-way storage rack in an intelligent three-dimensional warehouse for pipe fittings that can be accessed by robots;

[0048] Figure 9 yes Figure 1 Schematic diagram of the structure of the elbow storage rack of the intelligent warehouse for pipe fittings with robot access;

[0049] Figure 10 yes Figure 1 Schematic diagram of the structure of the pipe outbound conveying system of the intelligent three-dimensional warehouse for pipe fittings with robot storage and retrieval.

[0050] Description of labels:

[0051] Shelf system 10, root column 101, first shelf 11, first entrance 111, second shelf 12, second entrance 121, stacking frame 13, robotic stacking system 20, lifting platform 21, telescopic fork 22, robot 23, grab arm 231, grabber 232, support plate 301, baffle plate 302, flange storage rack 31, reducer storage rack 32, tee storage rack 33, elbow storage rack 34, locating pin 35, V-block 36, pipe inbound conveying system 40, inbound base 401, inbound trolley 402, inbound chuck 403, pipe outbound conveying system 50, outbound base 501, outbound trolley 502, outbound chuck 503 and stereoscopic warehouse control system 60. DETAILED DESCRIPTION

[0052] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0053] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "first", "second" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0055] In this application, unless otherwise expressly specified or limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or that the first feature and the second feature are indirectly in contact through an intermediate medium. Furthermore, a first feature being “above,” “above,” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below,” “below,” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more of the relevant listed items.

[0057] See also Figures 1 to 5 The present invention provides a robot-assisted intelligent high-bay warehouse for pipe fittings, comprising a racking system 10 and a robotic stacking system 20. The racking system 10 comprises a first rack 11, a second rack 12, and a stacking frame 13. The first rack 11 and the second rack 12 are arranged on opposite sides of the stacking frame 13 and connected to the stacking frame 13. The first rack 11 and the second rack 12 comprise a plurality of storage racks arranged in a longitudinal direction (e.g., a vertical direction) and are configured to accommodate pipe fittings. The robotic stacking system 20 includes a lifting platform 21, a telescopic fork 22 and a robot 23. The lifting platform 21 is arranged on the stacking frame 13 and can move longitudinally relative to the stacking frame 13. The robot 23 is arranged on the telescopic fork 22 and is configured to grab the pipe. The telescopic fork 22 is arranged on the lifting platform 21 and can move laterally (for example, horizontally) relative to the lifting platform 21, so that the robot 23 approaches a storage rack of the first shelf 11 or the second shelf 12 to place the pipe on a storage rack of the first shelf 11 or the second shelf 12.

[0058] Specifically, the first shelf 11 forms a first annular storage space and a first central space within the first storage space. The first storage space has a first entrance 111 in communication with the stacking frame 13, allowing the first storage space to surround the robot 23 when the robot 23 enters the first central space from the stacking frame 13. The second shelf 12 forms a second annular storage space and a second central space within the second storage space. The second storage space has a second entrance 121 in communication with the stacking frame 13, allowing the second storage space to surround the robot 23 when the robot 23 enters the second central space from the stacking frame 13.

[0059] Specifically, the first shelf 11, the second shelf 12, and the stacking frame 13 include several columns 101 extending in the longitudinal direction. The several columns 101 of the first shelf 11 and a portion of the several columns 101 of the stacking frame 13 form a support portion of the annular first storage space, and the storage rack is connected between two adjacent columns 101 for storing pipe fittings. The several columns 101 of the second shelf 12 and a portion of the several columns 101 of the stacking frame 13 form a support portion of the annular second storage space, and the storage rack is connected between two adjacent columns 101 for storing pipe fittings. The lifting platform 21 is arranged between the several columns 101 of the stacking frame 13.

[0060] See also Figures 6 to 9 Specifically, the storage rack includes a support plate 301 and a stop plate 302 that are arranged obliquely to the horizontal direction. The lower side of the support plate 301 is arranged toward or away from the first central space or the second central space where it is located. The stop plate 302 is connected to the lower side of the support plate 301, so as to prevent the pipe fittings from falling when they are placed on the support plate 301.

[0061] Specifically, the storage racks include a flange storage rack 31, a reducer storage rack 32, a tee storage rack 33, and / or an elbow storage rack 34. Each of the flange storage rack 31, the reducer storage rack 32, the tee storage rack 33, and / or the elbow storage rack 34 also includes a positioning pin 35, which is disposed on the support plate 301 and is used to limit the position of the pipes. The tee storage rack 33 also includes a V-shaped block 36, which is disposed between the positioning pin 35 and the retaining plate 302. The upper surface of the V-shaped block 36 forms an opposing inclined surface for receiving the pipes.

[0062] Specifically, robot 23 includes a fully rotatable gripper arm 231, which can be connected to grippers 232 adapted to handle pipes of varying sizes. The intelligent pipe warehouse also includes a gripper quick-change system 30, located on one side of the robotic stacking system 20. This system includes several grippers 232 for grasping pipes of varying sizes.

[0063] Referring to Figure 5 , the intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots also includes a pipe fitting inbound conveying system 40. This system includes an inbound base 401, an inbound trolley 402, and an inbound chuck 403. The inbound base 401 is connected to the stacking frame 13. The inbound chuck 403 is mounted on the inbound trolley 402 and is configured to clamp or release pipe fittings. The inbound trolley 402 is mounted on the inbound base 401 and is capable of rotating and moving relative to the inbound base 401. Pipe fittings are clamped by the inbound chuck 403, thereby being retained on the inbound trolley 402 and transported by the inbound trolley 402 to a position where they can be grasped by the robot 23.

[0064] See also Figure 10 The intelligent three-dimensional warehouse for pipe fittings accessed by robots also includes a pipe fitting outbound transportation system 50. The pipe fitting outbound transportation system 50 includes an outbound base 501, an outbound trolley 502, and an outbound chuck 503. The outbound base 501 is connected to the first shelf 11 or the second shelf 12. The outbound chuck 503 is arranged on the outbound trolley 502 and is configured to clamp or loosen the pipe fittings. The outbound trolley 502 is arranged on the outbound base 501 and can rotate and move relative to the outbound base 501. At least a portion of the outbound base 501 is located outside the shelf system 10, so that the outbound trolley 502 can transport the pipe fittings to the outside of the shelf system 10. The robot 23 can grab the pipe fittings on the first shelf 11 or the second shelf 12 and place them on the outbound trolley 502. The outbound chuck 503 clamps the pipe fittings and transports them to the outside of the shelf system 10.

[0065] See also Figures 1 to 3 The intelligent high-bay warehouse for pipes stored and retrieved by robots also includes a high-bay warehouse control system 60. The high-bay warehouse control system 60 includes a vision system and a control device. The vision system is configured to identify the type and center position of the pipe to be grasped, and the control device is configured to receive information from the vision system and control the lifting platform 21, telescopic fork 22, robot 23, storage trolley 402, storage chuck, outbound trolley 502, and outbound chuck 503 based on the information.

[0066] The present application also provides a method for operating a pipe fitting intelligent high-bay warehouse with robot access as described in any of the above embodiments, comprising the following steps:

[0067] S1: The control device obtains the type of the pipe to be grasped, determines the storage location of the pipe to be grasped, and determines the target position of the robot 23 according to the storage location;

[0068] S2: The control device selects a suitable gripper 232 according to the type of the pipe to be grasped and installs it on the gripping arm 231 of the robot 23;

[0069] S3: The inbound chuck 403 clamps the pipe placed on the inbound trolley 402, and the inbound trolley 402 transports the pipe to a position where the gripper 232 of the robot 23 can grasp it;

[0070] S4: The gripper 232 of the robot 23 grabs the pipe fitting on the storage trolley 402;

[0071] S5: The control device controls the lifting platform 21 and the telescopic fork 22 to move, so that the robot 23 moves to the target position;

[0072] S6: The gripper 232 of the robot 23 transports the pipe to the storage location and then releases it.

[0073] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of patent protection for the present application shall be determined by the appended claims.

Claims

1. An intelligent three-dimensional warehouse for pipe fittings with robot access, characterized in that: include: A rack system (10) includes a first rack (11), a second rack (12), and a stacking frame (13), wherein the first rack (11) and the second rack (12) are arranged on opposite sides of the stacking frame (13) and connected to the stacking frame (13), and the first rack (11) and the second rack (12) include a plurality of storage racks arranged in a longitudinal direction and are configured to accommodate pipe fittings; as well as A robotic stacking system (20) comprises a lifting platform (21), a telescopic fork (22) and a robot (23), wherein the lifting platform (21) is arranged on the stacking frame (13) and can move longitudinally relative to the stacking frame (13), the robot (23) is arranged on the telescopic fork (22) and is configured to grasp the pipe, and the telescopic fork (22) is arranged on the lifting platform (21) and can move transversely relative to the lifting platform (21), so that the robot (23) approaches a storage rack of the first shelf (11) or the second shelf (12) to place the pipe on a storage rack of the first shelf (11) or the second shelf (12).

2. The intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots according to claim 1, characterized in that: The first shelf (11) forms a first annular storage space and a first central space located in the first storage space, the first storage space having a first entrance (111) communicating with the stacking frame (13) so as to allow the robot (23) to enter the first central space from the stacking frame (13) so that the first storage space surrounds the robot (23); The second shelf (12) forms a ring-shaped second storage space and a second central space located in the second storage space, and the second storage space has a second entrance (121) connected to the stacking frame (13) to allow the second storage space to surround the robot (23) when the robot (23) enters the second central space from the stacking frame (13).

3. The intelligent three-dimensional warehouse for pipe fittings with robot storage and retrieval as claimed in claim 2, characterized in that: The first shelf (11), the second shelf (12) and the stacking frame (13) include a plurality of columns (101) extending along the longitudinal direction; Several columns (101) of the first shelf (11) and a portion of several columns (101) of the stacking frame (13) form a supporting portion of a first annular storage space, and the storage rack is connected between two adjacent columns (101) for storing pipe fittings; Several columns (101) of the second shelf (12) and a portion of several columns (101) of the stacking frame (13) form a supporting portion of the annular second storage space, and the storage rack is connected between two adjacent columns (101) for storing pipe fittings; The lifting platform (21) is arranged between several columns (101) of the stacking frame (13).

4. The intelligent three-dimensional warehouse for pipe fittings with robot storage and retrieval as claimed in claim 3, characterized in that: The storage rack comprises a support plate (301) and a stop plate (302) arranged obliquely in the transverse direction, wherein the lower side of the support plate (301) is arranged toward or away from the first central space or the second central space where the support plate (301) is located, and the stop plate (302) is connected to the lower side of the support plate (301), so as to prevent the pipe fittings from falling when they are placed on the support plate (301).

5. The intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots according to claim 4, characterized in that: The storage rack includes a flange storage rack (31), a reducer storage rack (32), a tee storage rack (33) and / or an elbow storage rack (34); Each of the flange storage rack (31), the reducer storage rack (32), the tee storage rack (33) and / or the elbow storage rack (34) further comprises a positioning pin (35), wherein the positioning pin (35) is provided on the support plate (301) and is used to limit the position of the pipe fittings; The three-way storage rack (33) further comprises a V-shaped block (36), which is arranged between the positioning pin (35) and the retaining plate (302), and the upper surface of the V-shaped block (36) forms a relative inclined surface for receiving the pipe fitting.

6. The intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots according to claim 1, characterized in that: The robot (23) includes a gripping arm (231) capable of rotating at all angles, and the gripping arm (231) can be connected to a gripper (232) adapted to pipes of different sizes; The pipe fitting intelligent stereoscopic warehouse further comprises a gripper quick-change system (30) arranged on one side of the robotic stacking system (20); the gripper quick-change system (30) comprises a plurality of grippers (232) for gripping pipe fittings of different sizes.

7. The intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots according to claim 1, characterized in that: It also includes a pipe storage and transportation system (40); The pipe warehousing and conveying system (40) comprises a warehousing base (401), a warehousing trolley (402) and a warehousing chuck (403), wherein the warehousing base (401) is connected to the stacking frame (13), the warehousing chuck (403) is arranged on the warehousing trolley (402) and is configured to clamp or release the pipe, and the warehousing trolley (402) is arranged on the warehousing base (401) and can rotate and move relative to the warehousing base (401); The pipe fitting can be clamped by the storage chuck (403) so as to be held on the storage trolley (402), and is transported by the storage trolley (402) to a position where the robot (23) can grasp it.

8. The intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots according to claim 7, characterized in that: It also includes a pipe outbound delivery system (50); The pipe outbound conveying system (50) comprises an outbound base (501), an outbound trolley (502) and an outbound chuck (503), wherein the outbound base (501) is connected to the first shelf (11) or the second shelf (12), the outbound chuck (503) is arranged on the outbound trolley (502) and is configured to clamp or release the pipe, and the outbound trolley (502) is arranged on the outbound base (501) and can rotate and move relative to the outbound base (501); At least a portion of the outbound base (501) is located outside the shelf system (10), so that the outbound trolley (502) can transport the pipe to the outside of the shelf system (10); The robot (23) is capable of grabbing the pipe fittings on the first shelf (11) or the second shelf (12) and placing them on the outbound trolley (502); the outbound chuck (503) clamps the pipe fittings and transports the pipe fittings to the outside of the shelf system (10).

9. The intelligent three-dimensional warehouse for pipe fittings stored and retrieved by robots according to claim 8, characterized in that: Also included is a three-dimensional warehouse control system (60); The three-dimensional warehouse control system (60) includes a visual system and a control device, wherein the visual system is configured to identify the type and center position of the pipe to be grasped, and the control device is configured to receive information from the visual system and control the lifting platform (21), the telescopic fork (22), the robot (23), the inbound trolley (402), the inbound chuck, the outbound trolley (502) and the outbound chuck (503) according to the information.

10. An operating method for a robot-assisted intelligent warehouse for pipe fittings according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The control device obtains the type of the pipe to be grasped, determines the storage location of the pipe to be grasped, and determines the target position of the robot (23) according to the storage location; S2: The control device selects a suitable gripper (232) according to the type of the pipe to be grasped and installs it on the gripping arm (231) of the robot (23); S3: The storage chuck (403) clamps the pipe placed on the storage trolley (402), and the storage trolley (402) transports the pipe to a position where the gripper (232) of the robot (23) can grasp it; S4: The gripper (232) of the robot (23) grabs the pipe fitting on the storage trolley (402); S5: The control device controls the movement of the lifting platform (21) and the telescopic fork (22), thereby moving the robot (23) to the target position; S6: The gripper (232) of the robot (23) transports the pipe to a storage location and then releases it.

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