A frame type intelligent steel storage device

Abstract

The application discloses a kind of framed intelligent steel storage devices, belong to the technical field of warehousing system, including installation on the top frame of high ground and the top plate of setting in the top frame top, top frame is equipped with quantitative lifting mechanism;It is equipped with bracing mechanism on the storage frame and located the upper position of each horizontal plate;The side position of top frame is provided with mobile support mechanism;The top side of mobile top disc is provided with sub-control mechanism;The side position of mobile support mechanism is provided with main control mechanism.Under the premise of not using track, also not with the help of mobile lifting and independent drive of winch, it can meet the needs of intensive steel loading storage and taking out operation, greatly reduce the running intensity, and the running stability is high, more adaptive batch multi-layer position taking and placing action;During the whole process, efficient steel storage operation can be carried out.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of warehouse systems, and particularly relates to a shelving type intelligent steel warehouse device. BACKGROUND

[0002] The dense stereoscopic warehouse occupies less land, fully utilizes the height space of the warehouse, is convenient for storing different steels in batches, is widely applied, and is suitable for large-area use.

[0003] The application CN106809587A discloses a dense intelligent stereoscopic warehouse system for storing steels, and the two ends of a lifting device 1 are installed on the guide rails 13 of the support cross beams 3 symmetrically arranged on the uppermost layer of the left and right side walls of a support frame 2, and the lifting device 1 can slide forward and backward on the guide rails 13 of the support cross beams 3; the two ends of each loading rack 4 are installed on the guide rails 13 of the support cross beams 3 symmetrically arranged on other layers of the left and right side walls of the support frame 2, and each loading rack 4 can slide forward and backward on the guide rails 13 of the support cross beams 3; M loading racks 4 are placed on each support cross beam group, so as to form a loading rack group with N-1 rows and M columns; each layer of the support cross beams 3 symmetrically arranged on the left and right side walls of the support frame 2 are parallel to each other and have a certain interval, and the distance between each layer of the support cross beams 3 is slightly greater than or equal to the height of the loading rack 4; the length of the support cross beam 3 is slightly greater than or equal to the total width of M+1 loading racks 4.

[0004] The lifting device 1 mainly comprises two first power devices 161, two lifting motors 5, two winches 6, two steel wires 7, two pulleys 9, two lifting arms 10, a lifting support base 8 and a lifting door machine 11; the first power devices 161 are fixed at the left and right ends of the lifting support base 8, the lifting motors 5 and the winches 6 are fixed at the left and right ends above the lifting support base 8, the output shaft of the lifting motor 5 is connected with the rotary shaft of the winch 6, the steel wire 7 is wound around the drum of the winch 6, the other end of the steel wire 7 is fixed to the lifting support base 8 after passing through the pulley 9 fixed to the lifting arm, and the lifting arm 10 is fixedly connected with the upper end of the lifting door machine 11; the lifting door machine 11 is moved up and down by simultaneously controlling the left and right lifting motors 5 to drive the steel wire 7 on the winch 6 to release and retract.

[0005] Each loading rack 4 mainly comprises two power supports 15, two second power devices 162, a rack 17, a rack support 18 and a plurality of guide racks 19; the rack support 18 is fixedly connected with the two power supports 15 at the left and right ends, and the power supports 15 are fixed with the power devices 16; a plurality of guide racks 19 are arranged at the edge positions of the rack support 18, the guide racks 19 position the rack 17 when the rack 17 is placed on the rack support 18, and the rack 17 can be lifted by the lifting device 1 from the rack support 18 and moved away.

[0006] Therefore, in this type of intensive intelligent automated storage and retrieval system, each shipping rack is equipped with a separate power unit on both sides that can move laterally on the guide rail. When the rack is moved to the top of the rack by a lifting device that can move to the top of the rack, all shipping racks above the rack are moved along the guide rail to an empty space. Then, the lifting device lowers the lifting gate machine to hold the shipping rack and pulls it upward to a high position. Finally, the lifting device moves laterally to an empty space and lowers it to realize the steel retrieval operation. The storage of steel is similar to the above operation.

[0007] However, this type of intensive intelligent automated storage and retrieval system relies heavily on the power units on each shipping rack for storage and retrieval. Each time goods are stored or retrieved, the shipping racks need to be driven in batches. This requires the control equipment, which is responsible for distributed calculation and control, to precisely control the power units on each shipping rack. The high degree of operation is not conducive to batch multi-level retrieval and placement operations. Most importantly, although the lifting device uses a lifting gantry crane to hold the shipping racks, it uses a double-door winch to pull the steel wire rope. During the process, the swing of the steel wire rope needs to be controlled as much as possible. This poses many disadvantages to the precise docking of the loading and unloading racks using the rail docking method. It is necessary to control the timing of the docking and the accuracy of the alignment, as well as the operating speed of the lifting device.

[0008] Therefore, it is necessary to set up a steel storage device that can perform efficient steel storage and retrieval operations without using tracks, without relying on winches for mobile lifting, and with independently driven racks. Summary of the Invention

[0009] The purpose of this invention is to provide a rack-type intelligent steel storage device to solve the problems existing in the prior art.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a rack-type intelligent steel storage device, comprising a raised frame installed on the ground and a top plate set on the top of the raised frame, a quantitative lifting mechanism installed on the raised frame, a movable top plate installed at the bottom of the quantitative lifting mechanism, a storage frame installed at the bottom of the movable top plate, horizontal plates evenly arranged vertically within the storage frame, partition plates evenly arranged between vertically adjacent horizontal plates, and storage frames inserted in each space within the storage frame separated by vertically adjacent horizontal plates and partition plates, the storage frame being placed in a pre-set loading groove on the ground, and the quantitative lifting mechanism being used to drive the storage frame to move up and down and control the height position of the storage frame;

[0011] A laser rangefinder is installed at the bottom of the top plate, and a reflector is installed at the top of the movable top plate corresponding to the position of the laser rangefinder head. The laser rangefinder is used to capture the vertical distance between itself and the reflector in real time.

[0012] A contact sensor is provided on the rear side of the storage frame and at the position corresponding to each storage frame. The contact sensor is used to sense the contact state between each storage frame and the rear side of the storage frame.

[0013] Each storage frame is provided with a support mechanism located on top of each horizontal plate. The support mechanism is used to limit the contact state between each layer of the storage frame and the rear side inside the storage frame, and to unlock each layer of the storage frame.

[0014] The storage frame is provided with an inlet on the rear side and corresponding to the rear position of each storage frame. A movable support mechanism is provided on the side of the top frame. The movable support mechanism is used to cooperate with the quantitative lifting mechanism to raise the storage frame and then move back and forth to the target inlet, and push the storage frame out of the storage frame through the inlet.

[0015] A sub-control mechanism is provided on one side of the top of the mobile top plate. The sub-control mechanism is used to receive the sensing signals of each contact sensor and the distance information of the laser rangefinder in real time, update and analyze the stored model according to the real-time received action feedback information, and control the support mechanism to perform restriction and unlocking operations according to the receiving of sensing signals.

[0016] A main control mechanism is provided on the side of the mobile support mechanism. The main control mechanism is used to receive distance information and real-time update information of the storage model from the sub-control mechanism in real time, and control the operation of the quantitative lifting mechanism according to the distance information. It also controls the operation of the mobile support mechanism by analyzing the real-time update information of the storage model and the real-time input drive control signals.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] In this invention, a quantitative lifting mechanism drives the storage frame to extend from the loading slot along the Y-axis until the target layer is located above the loading slot and stops. Then, a moving support mechanism automatically selects the target point in the Z-axis direction and pushes out the target storage frame in the X-axis direction. Therefore, without using rails, or relying on winches for mobile lifting and independently driven racks, the needs of intensive steel loading, storage and retrieval operations can be met, greatly reducing the intensity of operation, with high operational stability, and is more suitable for batch multi-level retrieval and placement operations.

[0019] After each storage frame is loaded, the operation of the support mechanism can limit the contact state between each storage frame and the rear of the storage frame. Before the storage frame of that layer is pushed out, each storage frame is unlocked to ensure the safety of the storage frame and prevent the storage frame from coming out of the storage frame laterally.

[0020] The system only requires the main control mechanism to input the storage number and confirm the action information. Under the control of the main and sub-control mechanisms, which work together to obtain real-time distance information and contact signals, the quantitative lifting mechanism is automatically controlled to lift the target storage frame according to the principle of top to bottom and front to back in the storage model. During this process, the automatic control mechanism releases the locking of the storage frame on the target level, and then the automatic control mechanism moves along the Z-axis to align with all target storage frames on each target level. Then, the target storage frames are pushed out of the storage frame along the X-axis to complete the loading or removal of steel and reset the storage frame. The sub-control mechanism monitors the contact signals emitted by all contact sensors on the target level and determines whether the locking action of the locking mechanism can be executed. After completion, the quantitative lifting mechanism and the moving support mechanism are automatically reset. The entire process enables efficient steel storage and retrieval operations.

[0021] In summary, the technical solution of the present invention can solve the technical problems existing in the prior art. Attached Figure Description

[0022] Figure 1 This is a front view schematic diagram of the present invention;

[0023] Figure 2 for Figure 1 A partial cross-sectional diagram;

[0024] Figure 3 for Figure 1 A schematic diagram of a partial cross-section of the left side;

[0025] Figure 4 This is a schematic diagram showing the distribution of each storage frame in the storage framework of this invention;

[0026] Figure 5 for Figure 4 A magnified structural diagram at point a;

[0027] Figure 6 for Figure 2 A magnified structural diagram at point b;

[0028] Figure 7 for Figure 2 A magnified structural diagram at point c;

[0029] Figure 8 for Figure 2 Enlarged structural diagram of the central control box;

[0030] Figure 9 for Figure 2 A magnified structural diagram at point d;

[0031] Figure 10 This is a schematic diagram of the cooperation between the bearing block and the lead screw in this invention;

[0032] Figure 11 for Figure 2 Enlarged structural diagram of the main control box;

[0033] Figure 12 This is a schematic diagram showing the connections of each module in development board one of this invention;

[0034] Figure 13 This is a schematic diagram showing the connections of each module in development board two of this invention;

[0035] Figure 14 This is a schematic diagram of the industrial control computer's code entry and storage number determination program in this invention;

[0036] Figure 15 This is a schematic diagram of the state of the mimicry model in this invention.

[0037] In the diagram: 1. Top frame, 2. Top plate, 3. Hydraulic cylinder I, 4. Moving top plate, 5. Reflector, 6. Laser rangefinder, 7. Diverter / combiner valve, 8. Storage frame, 9. Horizontal plate, 10. Divider plate, 11. Storage frame, 12. Servo motor, 13. Stop bar, 14. Movable port, 15. Slot, 16. Rotating shaft, 17. Contact sensor, 18. Inlet, 19. Battery box, 20. Control box, 21. Speaker, 22. Development board I, 23. Driver I, 24. Support inner frame, 25. Motor, 26. Lead screw, 27. Support block, 28. Support top frame, 29. Hydraulic cylinder II, 30. Support column, 31. Main control box, 32. Development board II, 33. Industrial computer, 34. Integrated relay, 35. Electromagnetic directional valve, 36. Driver II, 101. Reinforcing plate. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0039] See Figure 1 , Figure 2 , Figure 3 , Figure 4An intelligent steel storage device with a frame includes a raised frame 1 fixed with bolts embedded in a cement floor and a top plate 2 fixed with bolts to the top of the raised frame 1. A quantitative lifting mechanism is installed on the raised frame 1, and a movable top plate 4 is installed at the bottom of the quantitative lifting mechanism. A storage frame 8 is installed at the bottom of the movable top plate 4. The storage frame 8 is a vertical U-shaped frame, mainly made of 4 cm thick manganese steel plate bent. Vertically evenly welded horizontal plates 9 are installed inside the storage frame 8. Separating plates 10 are evenly bolted between adjacent vertical horizontal plates 9. Storage frames 11 are slidably inserted into the spaces within the storage frame 8, which are separated by the adjacent vertical horizontal plates 9 and separating plates 10. The storage frames 11 are used to load bundled steel. The storage frame 8 is placed in a pre-set loading groove on the ground, the size of which allows the storage frame 8 to be completely inserted. The quantitative lifting mechanism is used to drive the storage frame 8 to move up and down and control the height position of the storage frame 8.

[0040] When steel needs to be picked up or put down, the quantitative lifting mechanism drives the storage frame 8 to rise from the loading slot until the bottom surface of the storage frame 11 is level with the upper end surface of the loading slot, and then stops lifting and stabilizes the height. With this setting, the quantitative lifting mechanism can quickly position the vertical position of the storage frame 11.

[0041] The laser rangefinder 6 is fixed to the bottom center of the top plate 2 with screws. The top of the moving top plate 4 is fixed to the reflector 5 with screws corresponding to the position of the laser rangefinder 6's head. The laser rangefinder 6 is used to capture the vertical distance between itself and the reflector 5 in real time.

[0042] The distance between the laser rangefinder 6 and the reflector 5 is measured in real time by the laser rangefinder 6, thereby providing distance data support for the sub-control mechanism and the main control mechanism to control the lifting and lowering of the quantitative lifting mechanism.

[0043] An installation slot is provided on the rear side of the storage frame 8, corresponding to the position of each storage frame 11. A contact sensor 17 is fixed in each installation slot with screws. The sensing surface of the contact sensor 17 is flush with the right side of the storage frame 8. The contact sensor 17 is used to sense the contact state between each storage frame 11 and the rear side of the storage frame 8.

[0044] By setting up the contact sensor 17, the state of the storage frame 11 placed in the storage frame 8 can be monitored, so as to avoid the storage frame 11 being partially removed from the storage frame 8 and not being effectively monitored when the quantitative lifting mechanism starts to run; in addition, it provides a safe condition for the sub-control mechanism to control the support mechanism to operate effectively.

[0045] A bracing mechanism is provided on the storage frame 8 and above each horizontal plate 9. The bracing mechanism is used to limit the contact state between each layer of storage frame 11 and the rear side inside the storage frame 8, and to unlock each layer of storage frame 11.

[0046] By setting up the support mechanism, the storage frame 11 can be prevented from detaching laterally from the storage frame 8, and its contact state with the right side of the storage frame 8 can be stabilized.

[0047] The storage frame 8 is provided with an inlet 18 on the rear side and corresponding to the rear side of each storage frame 11. A movable support mechanism is provided on the side of the top frame 1. The movable support mechanism is used to cooperate with the quantitative lifting mechanism to lift the storage frame 8 and then move back and forth to the target inlet 18, and push the storage frame 11 out of the storage frame 8 through the inlet 18.

[0048] By moving a single movable support mechanism along the Z-axis to align with the target storage frame 11 and the inlet 18, and then pushing out the target storage frame 11, efficient and stable operation of retrieving the storage frame 11 is achieved.

[0049] A sub-control mechanism is set on the top right side of the mobile top plate 4. The sub-control mechanism is used to receive the sensing signals of each contact sensor 17 and the distance information of the laser rangefinder 6 in real time. It updates and analyzes the stored model based on the real-time received action feedback information, and controls the support mechanism to perform restriction and unlocking operations based on the receiving of sensing signals.

[0050] A main control mechanism is set on the side of the mobile support mechanism. The main control mechanism is used to receive distance information and real-time update information of the storage model from the sub-control mechanism in real time, and control the operation of the quantitative lifting mechanism according to the distance information. It also controls the operation of the mobile support mechanism by analyzing the real-time update information of the storage model and the real-time input drive control signals.

[0051] See Figure 1 , Figure 2 and Figure 3 The quantitative lifting mechanism includes hydraulic cylinders 3 bolted to the four sides of the bottom of the top plate 2. The extension and retraction stroke of hydraulic cylinders 3 is such that the storage frame 8 can be completely pulled out of the loading slot, or completely lowered into the loading slot. The flange at the end of the push rod of hydraulic cylinder 3 is connected to the top of the movable top plate 4. The side of the lifting frame 1 is welded with a reinforcing plate 101. The top of the top plate 2 is bolted to a diversion and combination valve 7. The branch inlet and outlet of the diversion and combination valve 7 are connected to the inlet and outlet of each hydraulic cylinder 3 through a pressure oil pipe.

[0052] By setting the diversion and manifold valve 7, the hydraulic oil discharged from the main inlet and outlet oil pipes can be effectively distributed to each branch pipe, thereby realizing the synchronous extension and retraction of the four hydraulic cylinders 3. In addition, the carrying capacity of the other four hydraulic cylinders 3 is set to meet the requirement of driving the storage frame 8 fully loaded with steel to move up and down stably.

[0053] See Figure 2 , Figure 4 , Figure 5 , Figure 6The supporting mechanism includes servo motors 12 bolted to both sides of the storage frame 8 and located on top of each horizontal plate 9. The rotating arms of the servo motors 12 in each layer are bolted together with baffles 13. The front of each partition plate 10 is provided with an opening 14, which is an arc-shaped opening, and the baffles 13 pass through each opening 14.

[0054] The position setting of the movable opening 14 satisfies the following: when the rear side of the storage frame 11 contacts the inner rear side of the storage frame 8, the stop bar 13 remains in contact with the arc-shaped side of the front end of the storage frame 11, and when the servo motor 12 drives the stop bar 13 to flip up to the highest point of the movable opening 14, it will not obstruct the storage frame 11 from moving left and right within the storage frame 8, and when the servo motor 12 drives the stop bar 13 to flip down to the lowest point of the movable opening 14, the stop bar 13 is positioned in the middle of the left side of the storage frame 11.

[0055] See Figure 2 , Figure 4 , Figure 6 , Figure 7 A slot 15 is provided on the horizontal plate 9 and located between the horizontally adjacent plates 10. The slot 15 is a square groove structure, and its width is the same as the distance between the horizontally adjacent horizontal plates 9. A rotating shaft 16 is uniformly arranged horizontally within the slot 15. Furthermore, bearing grooves are uniformly opened on both sides of the slot 15, and bearings are inserted into the bearing grooves with interference fit. The two ends of the rotating shaft 16 are inserted into the inner ring of the bearing with interference fit. The storage frame 11 is vertically supported and rotated by the rotating shaft 16.

[0056] With this setup, when the storage frame 11 is pushed horizontally, the rotating shafts 16, which are evenly arranged horizontally, support the storage frame 11, making it easier to push the storage frame 11 loaded with steel out of the storage frame 8.

[0057] See Figure 1 , Figure 2 , Figure 3 , Figure 9 and Figure 10 The movable support mechanism includes a support inner frame 24 embedded in the ground on the side of the top frame 1. The support inner frame 24 is a square frame with an open top and the top of the support inner frame 24 is flush with the ground. A motor 25 is bolted to the front side of the support inner frame 24. The motor 25 is a stepper motor with a magnetic brake system. The rotor shaft flange of the motor 25 is connected to a lead screw 26. A bearing block 27 is screwed onto the lead screw 26 and the bearing block 27 is slidably disposed in the support inner frame 24. During daily use, the inner wall of the support inner frame 24 and the mating area of ​​the bearing block 27 are coated with viscous lubricating oil. The fixed rotating shaft integrally set at the rear center of the lead screw 26 is interference-fitted into the inner ring of the support bearing in the support inner frame 24.

[0058] The length of the lead screw 26 satisfies the following condition: when driving the bearing block 27 to the hydraulic cylinder 29 in the Z-axis direction, the stroke can be aligned with all the inlets 18 in the Z-axis direction.

[0059] The top of the support block 27 is bolted to the support frame 28, and the hydraulic cylinder 29 is bolted to the support frame 28. The flange at the end of the push rod of the hydraulic cylinder 29 is connected to the pressure plate. The size of the pressure plate is such that when it is aligned with the center of the inlet 18 and inserted into the inlet 18, the gap between the pressure plate and the inner wall of the inlet 18 is 2 cm.

[0060] See Figure 1 , Figure 2 , Figure 3 , Figure 8 , Figure 12 and Figure 15 The sub-control mechanism includes a battery box 19 bolted to the top left of the movable top plate 4 and a sub-control box 20 bolted to the top right of the movable top plate 4. The top of the sub-control box 20 is screwed to a speaker 21. The inner rear side of the sub-control box 20 is screwed to a development board 22 with an insulating pad. The bottom of the sub-control box 20 is screwed to 12 drivers 23.

[0061] The battery box 19 contains 18 24V lithium batteries. The power output terminal of one of the lithium batteries is connected to the power input terminal of a 24V to 5V transformer via a cable. The power output terminal of the transformer is connected to the power input terminal of a 5V regulator via a cable. The power output terminal of the 5V regulator is connected to the I / O power input pin of the development board 22 via a cable. The main power input terminal of each driver 23 is connected to the power input terminal of the lithium battery in the battery box 19 via a cable. The electronic control output terminal of each driver 23 is connected to the power input pin of the two servos 12 on each layer via a cable. The drivers 23 are all modulated at the same speed and frequency, and the two servos 12 on each layer operate synchronously. The main power input terminal of the speaker 21 is connected to the power input terminal of one of the lithium batteries via a cable. In addition, the laser rangefinder 6 is rechargeable and can be charged periodically.

[0062] The development board 122 includes a sensor signal receiving module, a wireless signal transceiver module, and a distance signal receiving module. The sensor signal receiving module receives the sensor signals from each contact sensor 17 by number. More specifically, each numbered signal input pin of the sensor signal receiving module is connected to the signal line of the contact sensor 17. When the sensor detects contact with the frame 11, it sends a contact signal to the sensor signal receiving module, which then numbers and loads the contact signal. The distance signal receiving module receives the distance information input in real time from the laser rangefinder 6. The transmission line of the laser rangefinder 6 is connected to the signal input pin of the distance signal receiving module. The sensor signal receiving module, the wireless signal transceiver module, and the distance signal receiving module are connected to the model planning module. The model planning module is based on the actual data from the wireless signal transceiver module. The storage model information is updated in real time based on the storage status of the input storage frame 11. That is, if a steel loading operation was performed in a certain storage frame 11 last time but the steel was not retrieved, the simulated storage frame in the storage model will show 1. If a steel retrieval operation was performed in a certain storage frame 11 last time but the steel was not stored, or if the storage frame 11 was not loaded with steel and has not been loaded with steel, the simulated storage frame in the storage model will show 0. The model planning module transmits to the sub-control processing module, which transmits to the steering rotary CNC input module and the alarm signal output module. The sub-control processing module is used to issue control input commands to the steering rotary CNC input module according to the control signal operation status received by the wireless signal transceiver module, and to control the alarm signal output module to output an alarm voice signal when the specified storage frame 11 does not meet the action requirements.

[0063] The main control unit inputs the storage numbers and determines the retrieval and placement operations. In the storage model, the topmost and first storage frame 11 is numbered (1; 1), and the subsequent storage frames 11 are numbered (1; 2), (1; 3), (1; 4), (1; 5), and (1; 6). The next layer's storage frames 11, from the first to the last, are numbered (2; 1), (2; 2), (2; 3), (2; 4), (2; 5), and (2; 6); and so on, with the bottommost and last storage frame 11 numbered (12; 6). If the simulated storage frame in the storage model displays 0 and a retrieval operation is determined, or if the simulated storage frame in the storage model displays 1 and a placement operation is determined, the sub-control processing module issues an alarm voice signal output command to the alarm signal output module. This alarm voice signal expresses "Action confirmation failed, please re-enter." If the sensing signal receiving module senses... When the contact sensor 17 of the layer fails to emit a contact signal, the system waits for a determination. The sub-control processing module monitors the operation of the servo motor 12 of the layer and the distance data fed back by the laser rangefinder 6. During the waiting process, if the servo motor 12 of the layer performs a swing arm tilting action or the distance data fed back by the laser rangefinder 6 changes, the sub-control processing module sends an alarm voice signal output command to the alarm signal output module. The alarm voice signal is expressed as "Dangerous operation, do not continue operation". The sub-control processing module sends a priority command to the steering CNC input module to stop the servo motor 12. Then, the sub-control processing module sends a priority prohibition command to the analysis and processing module through the wireless signal transceiver module, so that the relay control input module executes the command first and controls the hydraulic cylinder 3 to stop. At this time, the analysis and processing module does not receive commands from the industrial control computer 33 or commands to automatically run after obtaining the drive factor. If the sensing signal receiving module detects that all contact sensors 17 on this layer have issued contact signal numbers, the sub-control processing module cancels the priority prohibition command to the analysis and processing module through the wireless signal transceiver module. The sub-control processing module cancels the priority command to stop the steering CNC input module and controls the servo motor 12 to continue to complete the downward flip command. After a 3-second delay, the relay control input module continues to control the hydraulic cylinder 3 to continue to run according to the original command that was not completed before the stop.

[0064] The steering rotation numerical control input module is used to control the operation of each layer's support mechanism. Each numbered signal output pin of the steering rotation numerical control input module is connected to the signal input terminal of each driver 23 via a signal line. Each signal output pin is matched with the execution unit of each signal node in the steering rotation numerical control input module. The sub-control processing module matches the layer number in the storage model with each signal node. Thus, when the servo motor 12 of a certain layer needs to run, it will issue a steering rotation control command to the driver 23 connected to the servo motor 12 of that layer. The alarm signal output module is used to input alarm voice signals to the playback speaker 21, which is then played by the playback speaker 21. The signal output pin of the alarm signal output module is connected to the voice signal input terminal of the playback speaker 21 via a transmission line.

[0065] See Figure 1 , Figure 2 , Figure 3 , Figure 11 , Figure 13 , Figure 14 The main control mechanism includes a support column 30 fixed to the right side of the mobile support mechanism with expansion bolts. The top of the support column 30 is bolted to the main control box 31. The development board 32 is fixed to the left side of the main control box 31 with insulating pad screws. The I / O power input terminal of the development board 32 is connected to an external 5V DC power supply via a cable. The industrial computer 33 is bolted to the cover of the main control box 31. The integrated relay 34 is fixed to the rear side of the main control box 31 with screws. Two electromagnetic reversing valves 35 are fixed to the bottom of the main control box 31 with screws. The main power input terminal of the integrated relay 34 is connected to an external power supply via a cable. The electrical control output terminal of the integrated relay 34 is connected to the potential control terminal of each electromagnetic reversing valve 35 via a cable. The driver 36 is fixed to the left side of the main control box 31 and below the development board 32 with screws. The main power input terminal of the driver 36 is connected to an external power supply via a cable. The power control output terminal of the driver 36 is connected to the power control terminal of the motor 25 via a cable.

[0066] The inlet and outlet ends of the two solenoid directional valves 35 are respectively connected to the main inlet and outlet ends of the diverter valve 7 and the inlet and outlet ends of the hydraulic cylinder 29 via pressure oil pipes. The inlet and outlet ends of the two solenoid directional valves 35 are respectively connected to the inlet and outlet ends of the external hydraulic pump via pressure oil pipes.

[0067] By issuing relay control commands to the integrated relay 34, the two electromagnetic directional valves 35 are controlled to switch the oil inlet and outlet, thereby realizing the extension and retraction control of the push rods of hydraulic cylinder 3 and hydraulic cylinder 29.

[0068] Development board 2 (32) includes a second wireless signal transceiver module and a programmed signal receiving module. The second wireless signal transceiver module sends control signal operation status information to the first wireless signal transceiver module and receives distance information and real-time update information of the stored model from the first wireless signal transceiver module. The programmed signal receiving module receives the stored signal information and drive control information from the industrial control computer (33) in real time. The signal access pin of the programmed signal receiving module is connected to the signal access terminal of the industrial control computer (33) via a transmission line. The programmed signal receiving module and the industrial control computer (33) establish a data transmission protocol and a program transmission protocol. Additionally, the industrial control computer... The relay control program and driver control program are loaded into 33 and linked to the steering CNC input module 1, steering CNC input module 2, relay control input module 1, and relay control input module 2 respectively. The industrial control computer 33 can issue instructions independently. Therefore, the industrial control computer 33 can directly control the operation of motor 25, hydraulic cylinder 29, and hydraulic cylinder 3, and indirectly control the operation of servo motor 12. The control instructions directly issued by the industrial control computer 33, except for the above-mentioned priority instructions, belong to the second-level necessary execution instructions. Therefore, the motor 25, hydraulic cylinder 29, hydraulic cylinder 3, and servo motor 12 can be temporarily stopped and started. The signal receiving module is connected to the signal sorting and processing module, which arranges the stored number information and drive control information separately and classifies the drive control information. The wireless signal transceiver module 2 and the signal sorting and processing module are connected to the analysis and processing module, which is connected to the steering rotary CNC input module 2, relay control input module 1, and relay control input module 2. The analysis and processing module analyzes whether the stored number information and action requirements are met in real time based on the stored model. If they are met, the drive factor is released. If they are not met, the module not only sends an action failure signal to the sub-control processing module through the wireless signal transceiver module 2, but also immediately sends a receipt to the industrial control computer 33 to wait for the next input of stored number information. If they are met, the module issues control commands to the steering rotary CNC input module 2, relay control input module 1, and relay control input module 2 according to the action point.

[0069] Steering rotary control input module two and relay control input module two are used to control the operation of the moving support mechanism, while relay control input module one is used to control the operation of the quantitative lifting mechanism. The signal output pins of relay control input module two and relay control input module one are connected to the two signal input terminals of integrated relay 34 via signal lines, and the signal output pin of steering rotary control input module two is connected to the signal input terminal of driver two 36 via signal lines.

[0070] The overall drive control mode is as follows: the industrial control computer 33 stores and encodes the data, and the analysis and processing module judges the picking and placing actions. After passing the judgment, the analysis and processing module releases the drive factor, thereby controlling the analysis and processing module to issue the hydraulic cylinder-3 push rod extension and retraction command to the relay control module. The extension and retraction judgment logic is as follows: when the Y-axis movement distance point value is greater than the distance value input in real time through the laser rangefinder 6, the hydraulic cylinder-3 executes the extension command; when the Y-axis movement distance point value is less than the distance value input in real time through the laser rangefinder 6, the hydraulic cylinder-3 executes the retraction command. The Y-axis movement distance point value is divided into 12 points. Reaching any one of them can align the bottom of all the storage frames 11 in that layer with the upper port of the loading slot. During the execution process, if there are multiple layers of points to be picked up in the Y-axis direction, the item with the largest Y-axis movement distance point value is the first target to be executed, and they are executed one by one.

[0071] When the distance value input in real time by the laser rangefinder 6 is the Y-axis movement distance point value, the relay control module issues a stop command to hydraulic cylinder 3. After a two-second delay, the sub-control processing module, based on the confirmed action and pending execution layer number stored in the storage model, issues a command to the steering CNC input module to control the servo motor 12 of that layer to tilt upwards. When the stop bar 13 tilts upwards to the highest point of the movable opening 14, the servo motor 12 stops running. After a five-second delay, the analysis processing module issues a command to the steering CNC input module 2 to move the Z-axis movement steering rotation point. The steering CNC input module 2 stores 6 Z-axis movement steering rotation points and 6 Z-axis movement steering rotation points that return to their original points. Under the control of the steering speed control signal and the six Z-axis motion steering speed control signals, the center position of the push rod end of the hydraulic cylinder 29 corresponds to the center position of all the inlets 18 on each layer. In actual operation, the Z-axis motion steering speed point can be set according to the number of storage frames 11 on each layer. Since the lead of the screw 26 and the bearing block 27 and the running speed of the motor 25 are known, the set Z-axis motion steering speed points are set according to the actual position of each inlet 18 on each layer. When multiple Z-axis motion steering speed points are set on the same layer, the Z-axis motion steering speed point set at the position closest to the original point in the Z-axis direction is the first Z-axis motion steering speed point to be executed, and they are executed one by one.

[0072] Before executing the next Z-axis rotation point, the analysis and control module first sends a command to the relay control module 2 to extend the hydraulic cylinder 29. Once the hydraulic cylinder 29 has completely pushed the target storage frame 11 out of the storage frame 8 and retracted its push rod to its original length, the analysis and processing module sends a command to the rotation control module 2 to proceed to the next Z-axis rotation point. This continues until all Z-axis rotation points on the same layer have been completed, and the last storage frame 11 is pushed out of the storage frame 8 by the hydraulic cylinder 29. When the hydraulic cylinder 29 retracts to its original length, the analysis and processing module... The steering rotation control signal is sent to the steering rotation CNC input module 2 to return the Z-axis movement steering rotation point to the original point. After the loading or unloading of steel in the storage frame 11 is completed and all storage frames 11 have been pushed to the right side of the contact storage frame 8, the signal is sent back to the industrial control computer 33 to wait for the continuation instruction. After the industrial control computer 33 issues the continuation instruction, there is a 5-second delay. Then, the sub-control processing module sends an instruction to the steering rotation CNC input module 1 to control the servo motor 12 of the layer to complete the downward flip. After the completion, there is a 5-second delay. Then, the analysis and processing module sends an instruction to the relay control input module 1 to retract the hydraulic cylinder 3 push rod to the next Y-axis movement distance point value.

[0073] After all layers of storage frames 11 have completed the loading or unloading of steel, and the sub-control processing module sends an instruction to the steering CNC input module to control the last layer servo motor 12 to complete the downward flip, the instruction is sent back to the industrial control computer 33 to wait for the Y-axis return instruction. After the industrial control computer 33 sends the Y-axis return instruction, there is a 3-second delay. Then, the analysis and processing module sends an instruction to the relay control input module to extend the hydraulic cylinder 3 push rod to the original point value. After completion, the system is in standby mode, waiting for the next storage number to be entered.

[0074] The working principle of this embodiment is as follows:

[0075] The quantitative lifting mechanism and the mobile support mechanism: The quantitative lifting mechanism drives the storage frame 8 to extend from the loading slot along the Y-axis until the target layer is located above the loading slot and stops. Then, the mobile support mechanism automatically selects the target point in the Z-axis direction and pushes out the target storage frame 11 in the X-axis direction. Therefore, in this invention, without using rails, without relying on winches for mobile lifting, and without independently driven shelves, the needs of intensive steel loading, storage and retrieval operations can be met, greatly reducing the intensity of operation, with high operational stability, and more suitable for batch multi-level loading and unloading operations.

[0076] Support mechanism: After each layer of storage frame 11 is loaded, the operation of the support mechanism can limit the contact state between each layer of storage frame 11 and the rear side of the storage frame 8, and unlock each layer of storage frame 11 before performing the push-out action of the storage frame 11, so as to ensure the safety of storage of the storage frame 11 and prevent the storage frame 11 from coming out of the storage frame 8 laterally.

[0077] The system comprises a quantitative lifting mechanism, a mobile support mechanism, a support mechanism, a sub-control mechanism, a main control mechanism, a laser rangefinder 6, and contact sensors 17. Only the main control mechanism needs to input the storage number and confirm the action information. Under the control of the real-time distance information and contact signals obtained by the sub-control mechanism and the main control mechanism, the quantitative lifting mechanism is automatically controlled to lift the target storage frame 11 according to the principle of top-to-bottom and front-to-back in the storage model. During this process, the support mechanism of the target layer is automatically released from locking the storage frame 11 of that layer. Then, the mobile support mechanism is automatically controlled to move along the Z-axis to align with all target storage frames 11 of each target layer. Next, the target storage frames 11 are pushed out of the storage frame 8 along the X-axis to complete the loading or removal of steel. After resetting the storage frame 11, the sub-control mechanism monitors the contact signals emitted by all contact sensors 17 of the target layer and sequentially determines whether the support mechanism can be locked back in place. After completion, the quantitative lifting mechanism and the mobile support mechanism are automatically reset. Throughout the process, efficient steel storage and retrieval operations can be performed.

[0078] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A rack-type intelligent steel storage device, comprising a raised frame (1) installed on the ground and a top plate (2) disposed on top of the raised frame (1), characterized in that: A quantitative lifting mechanism is installed on the top frame (1). A movable top plate (4) is installed at the bottom of the quantitative lifting mechanism. A storage frame (8) is installed at the bottom of the movable top plate (4). Horizontal plates (9) are evenly arranged vertically inside the storage frame (8). Dividing plates (10) are evenly arranged between vertically adjacent horizontal plates (9). Storage frames (11) are inserted in each space inside the storage frame (8) which is separated by vertically adjacent horizontal plates (9) and dividing plates (10). The storage frame (8) is placed in a loading slot preset on the ground. The quantitative lifting mechanism is used to drive the storage frame (8) to move up and down and control the height position of the storage frame (8). A laser rangefinder (6) is provided at the bottom of the top plate (2), and a reflector (5) is provided at the top of the movable top plate (4) and at the position corresponding to the laser rangefinder (6) head. The laser rangefinder (6) is used to capture the vertical distance between itself and the reflector (5) in real time. A contact sensor (17) is provided on the rear side of the storage frame (8) and at the position corresponding to each storage frame (11). The contact sensor (17) is used to sense the contact state between each storage frame (11) and the rear side of the storage frame (8). Each storage frame (8) is provided with a support mechanism located above each horizontal plate (9). The support mechanism is used to limit the contact state between each layer of storage frame (11) and the rear side inside the storage frame (8), and to unlock each layer of storage frame (11). The storage frame (8) is provided with an inlet (18) on the rear side and corresponding to the rear side of each storage frame (11). The side of the top frame (1) is provided with a movable support mechanism. The movable support mechanism is used to cooperate with the quantitative lifting mechanism to raise the storage frame (8) to a height and then move back and forth to the target inlet (18), and push the storage frame (11) out of the storage frame (8) through the inlet (18). The top side of the mobile top plate (4) is provided with a sub-control mechanism. The sub-control mechanism is used to receive the sensing signals of each contact sensor (17) and the distance information of the laser rangefinder (6) in real time, update the storage model according to the real-time received action feedback information, and control the support mechanism to perform restriction and unlocking operations according to the sensing signal reception. A main control mechanism is provided on the side of the mobile support mechanism. The main control mechanism is used to receive distance information and real-time update information of the storage model from the sub-control mechanism in real time, and control the operation of the quantitative lifting mechanism according to the distance information. It also controls the operation of the mobile support mechanism by analyzing the real-time update information of the storage model and the real-time input drive control signals.

2. The rack-type intelligent steel storage device according to claim 1, characterized in that: The quantitative lifting mechanism includes hydraulic cylinders (3) installed on the four sides of the bottom of the top plate (2). The top rod end of the hydraulic cylinder (3) is connected to the top of the movable top plate (4). A reinforcing plate (101) is installed on the side of the lifting frame (1). A diversion and collection valve (7) is installed on the top of the top plate (2). The branch inlet and outlet of the diversion and collection valve (7) are connected to the inlet and outlet of each hydraulic cylinder (3) through a pressure oil pipe.

3. The rack-type intelligent steel storage device according to claim 2, characterized in that: The supporting mechanism includes servo motors (12) arranged on both sides of the storage frame (8) and located above each horizontal plate (9). A baffle (13) is installed between the rotating arms of the servo motors (12) of each layer. The front of each partition plate (10) is provided with an access port (14), and the baffle (13) passes through the access port (14) of each layer.

4. The rack-type intelligent steel storage device according to claim 3, characterized in that: A slot (15) is provided on the horizontal plate (9) and located between the horizontally adjacent sub-plates (10). A rotating shaft (16) is uniformly rotatable in the slot (15), and the storage frame (11) is supported by the rotating shaft (16).

5. The rack-type intelligent steel storage device according to claim 4, characterized in that: The movable support mechanism includes a support inner frame (24) located below the ground on the side of the top frame (1). A motor (25) is installed on one side of the support inner frame (24). The rotor shaft of the motor (25) is connected to a lead screw (26). A bearing block (27) is screwed onto the lead screw (26) and the bearing block (27) is slidably disposed inside the support inner frame (24). The other end of the lead screw (26) is rotatably disposed on the other side inside the support inner frame (24). The top of the support block (27) is equipped with a support top frame (28), and a hydraulic cylinder two (29) is installed on the support top frame (28). A top pressure plate is installed at the end of the top rod of the hydraulic cylinder two (29).

6. A rack-type intelligent steel storage device according to any one of claims 1-5, characterized in that: The sub-control mechanism includes a battery box (19) located on one side of the top of the mobile top plate (4) and a sub-control box (20) located on the other side of the top of the mobile top plate (4). A speaker (21) is installed on the top of the sub-control box (20). A development board (22) is installed on the rear side of the sub-control box (20). A driver (23) is installed at the bottom of the sub-control box (20). The development board 1 (22) includes a sensor signal receiving module, a wireless signal transceiver module 1, and a distance signal receiving module. The sensor signal receiving module is used to receive the sensor signals of each contact sensor (17) in number. The distance signal receiving module is used to receive the distance information input in real time by the laser rangefinder (6). The sensor signal receiving module, the wireless signal transceiver module 1, and the distance signal receiving module are connected to a model planning module. The model planning module updates the stored model information in real time according to the storage status of the storage frame (11) input in real time by the wireless signal transceiver module 1. The model planning module is connected to a sub-control processing module. The sub-control processing module is connected to a steering wheel CNC input module 1 and an alarm signal output module. The sub-control processing module is used to issue a control input command to the steering wheel CNC input module 1 according to the operation status of the control signal received by the wireless signal transceiver module 1, and control the alarm signal output module to output an alarm voice signal when the specified storage frame (11) does not meet the action requirements. The steering numerical control input module is used to control the operation of each layer of support mechanism; while the alarm signal output module is used to input alarm voice signals to the playback speaker (21), which are then played by the playback speaker (21).

7. The rack-type intelligent steel storage device according to claim 6, characterized in that: The main control mechanism includes a support column (30) installed on the side of the movable support mechanism. A main control box (31) is installed on the top of the support column (30). A development board (32) is installed on one side of the main control box (31). An industrial computer (33) is installed on the cover of the main control box (31). An integrated relay (34) is installed on the other side of the main control box (31). Two electromagnetic reversing valves (35) are installed at the bottom of the main control box (31). A driver (36) is installed on one side of the main control box (31) and below the development board (32). The second development board (32) includes a second wireless signal transceiver module and a second programmed signal receiving module. The second wireless signal transceiver module is used to send control signal operation information to the first wireless signal transceiver module and receive distance information and real-time update information of the storage model sent by the first wireless signal transceiver module. The programmed signal receiving module is used to receive the stored number information and drive control information sent by the industrial control computer (33) in real time. The programmed signal receiving module is connected to a signal sorting and processing module. The signal sorting and processing module is used to sort the stored number information and drive control information separately and classify the drive control information. The second wireless signal transceiver module and the signal sorting and processing module are connected to an analysis and processing module. The analysis and processing module is connected to a second steering rotary CNC input module, a first relay control input module, and a second relay control input module. The analysis and processing module analyzes whether the stored number information and action requirements are met in conjunction with the real-time update information of the storage model, and issues control commands to the second steering rotary CNC input module, the first relay control input module, and the second relay control input module according to the action position. The steering numerical control input module 2 and the relay control input module 2 are used to control the operation of the moving support mechanism, and the relay control input module 1 is used to control the operation of the quantitative lifting mechanism.

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