Automatic stereoscopic warehouse for steel pipes

Abstract

The utility model relates to an automatic stereoscopic warehouse for steel pipes, which is characterized in that a branch pipe feeding platform is arranged on the feeding side of a stereoscopic goods shelf, an unpowered roller way is arranged on the branch pipe feeding platform, a pipe turning device and a length measuring propelling device are arranged above the unpowered roller way, a specification rechecking device is arranged at the end part of a pipe warehousing conveying line, a stepping device is a chain conveying line, and a conveying device is arranged on the chain conveying line. The rack is arranged below the three-dimensional rack; a shelf side lifting platform cantilever is laterally hung on the outer side of the three-dimensional shelf, and a pipe storage tray is placed on the shelf side lifting platform; and the electric control system is connected with the unpowered roller way, the pipe turning device, the length measurement propelling device, the specification rechecking device, the stepping device and the goods shelf side lifting platform and used for conveying the pipes to required stations according to requirements under the control of a PLC (Programmable Logic Controller) so as to finish warehouse-in and warehouse-out. According to the utility model, full-automatic warehouse-out, warehouse-in and storage management of the raw material pipes is realized, so that the whole raw material pipe long-term storage warehouse is unmanned.

Description

Technical Field

[0001] The utility model relates to automated warehousing logistics, in particular to an automated three-dimensional warehouse for steel pipes. Background Art

[0002] Currently, domestic raw pipe storage facilities are outdated, with low levels of information technology and intelligentization. Existing raw pipe storage warehouses utilize traditional fixed shelving systems, requiring operators to manually identify the specifications of the raw pipes and then manually operate the loading and unloading equipment to complete the pipe loading and unloading operations. This fully manually operated pipe storage system is not only inefficient and wasteful, but also presents safety risks and is no longer suitable for practical work needs. Therefore, it is necessary to adopt an automated steel pipe warehouse that utilizes modern, intelligent equipment to replace the existing manual operations and can complete the storage and retrieval of raw pipes in a timely, accurate, and efficient manner. Summary of the Invention

[0003] The purpose of this utility model is to address the above-mentioned shortcomings of existing long-term storage warehouses for raw pipes and provide a steel pipe automated warehouse that uses modern and intelligent equipment to replace the original manual operation and can complete the storage and retrieval operations of raw pipes in a timely, accurate and efficient manner.

[0004] To achieve its purpose, the utility model is implemented through the following technical solutions: an automated three-dimensional warehouse for steel pipes, including a divided loading platform, a non-powered roller conveyor, a pipe turning device, a length measuring and pushing device, a specification review device, a stepping device, a three-dimensional shelf, a shelf side lifting platform, a custody tray, a powered conveying roller conveyor and an electronic control system. The divided loading platform is arranged on the feeding side of the three-dimensional shelf, and the divided loading platform is provided with a non-powered roller conveyor and a pipe turning device. The length measuring and pushing device is installed above the non-powered roller conveyor, and the specification review device is installed at the end of the pipe storage conveyor line. The stepping device is a chain conveyor line, which is arranged under the three-dimensional shelf and is used to continue to convey the steel pipes that meet the storage conditions to the powered conveying roller conveyor; the shelf side lifting platform cantilever side is hung on the outside of the three-dimensional shelf, and a custody tray is placed on the shelf side lifting platform; the electronic control system is connected to the non-powered roller conveyor, the pipe turning device, the length measuring and pushing device, the specification review device, the stepping device, and the shelf side lifting platform, and is used to convey the pipes to the required workstations as required under the control of the PLC to complete the storage and outbound.

[0005] Furthermore, the three-dimensional shelf is a frame structure with multi-layer storage tray drawers that can store multiple custody trays. Each custody tray is placed in the storage tray drawer on a non-powered roller conveyor and is passively fed in and out.

[0006] Furthermore, the custody tray has a frame structure and can move forward and backward on the powered rollers inside and outside the drawer slot. It is equipped with a V-shaped groove inside for placing pipes of various specifications. Four running wheels are installed on both sides of the custody tray. When the custody tray is pulled and pushed, the running wheels roll on the track, enabling the custody tray to enter and exit the three-dimensional shelf and the shelf side lifting platform.

[0007] Furthermore, the specification verification device uses photography to verify the outer diameter and wall thickness of the steel pipe.

[0008] Furthermore, the feeding platform has a three-stage chain row, wherein a number of pipes with similar outer diameters are placed on the first-stage chain row of the feeding platform. The third-stage chain row connects the conveying chain mechanism and the driving mechanism, and utilizes the speed difference of the three-stage chain row to divide the pipes, increase the distance between the pipes, and deliver the pipes to the subsequent process links; the conveying chain mechanism is divided into three levels, with the same speed in each level and an increase in speed between levels. It is composed of a bearing seat, a shaft, a drive sprocket, a drive chain, and fasteners; the driving mechanism is composed of a reduction motor, a transmission chain, a drive sprocket group, and fasteners. The reduction motor is connected to the transmission chain through the drive sprocket group, and the stage-by-stage increase in speed is achieved through the difference in the number of drive sprocket teeth.

[0009] Furthermore, the frame of the unpowered roller conveyor is welded from profiles, and all moving pairs, ramps and blocking units are installed or welded on the frame; the unpowered roller conveyor consists of a bearing seat and a V-shaped roller installed in the bearing seat; one side of the powered conveying roller conveyor is connected to the stepping device, and the other side is provided with a protective wing to prevent the steel pipe from falling.

[0010] The length measuring and propulsion device includes a reduction motor, gears, racks, a push head, a frequency converter, an encoder, and a photoelectric switch. The reduction motor is connected to the rack through the gear, and the rack is connected to the push head. The push head is placed on the running track, and corresponding guide rollers are set in each direction. The gear is driven by the reduction motor to rotate, and the gear and rack are engaged to realize the advancement of the push head, and then the push head pushes the pipe forward on the unpowered roller; the reduction motor is connected to the frequency converter, and the operating speed is controlled by the frequency converter. The encoder is used to detect the running distance of the push head, and the photoelectric switch is used to detect the head of the pipe. Finally, after the pipe is pushed into place, a subtraction operation is performed to obtain the actual length of the pipe for system review.

[0011] Furthermore, the pipe turning device consists of a pipe turning reduction motor, gears, a turning gear and a V-shaped roller. The pipe turning reduction motor is connected to the turning gear through gear meshing, and the rotating shaft of the turning gear is fixedly connected to the V-shaped roller.

[0012] Furthermore, the shelf side lifting platform has a lifting platform, a pallet pushing and pulling mechanism, and a pipe lifting crane mechanism. The pipe lifting crane mechanism is installed on the lifting platform, above the pallet, and can move horizontally with the lifting platform; the lifting platform can be aligned with each drawer of the shelf to carry out pallet in and out operations; the pallet pushing and pulling mechanism is used to hang the pallet in the drawer and send it in and out; the shelf side lifting platform is equipped with lifting guide wheels at the four corners, which are used to complete the lifting action on the inside of the three-dimensional shelf column. The pipe lifting crane mechanism adopts wire rope hoist for lifting, and the hook opens and closes left and right. After taking and placing the pipe, the wire rope rises and falls, and the entire beam can be positioned in two positions as required, and the lifting operation of the pipe is completed in combination with the platform lifting; after the shelf side lifting platform lifts the pipe to the designated shelf level, the pushing and pulling device completes the pushing and pulling operation of the storage pallet.

[0013] Furthermore, the electronic control system uses PLC as the main control system, which is responsible for the control of all equipment in the system. The operation of all equipment is automatically controlled, and the system has an automatic / manual switching function.

[0014] The beneficial effects of the utility model are:

[0015] 1. Tightly integrate the warehouse management system, PLC automatic control system, and leading automated logistics equipment and warehousing equipment in various industries to automatically identify, screen, transport, and access raw pipes. This achieves fully automated outbound, inbound, and storage management of raw pipes, making the entire long-term storage of raw pipes unmanned.

[0016] 2. The daily processing capacity of raw material pipes in and out can reach 320 pieces, which greatly improves the working efficiency.

[0017] 3. Automatically controlled in-and-out storage equipment replaces manual operation, and photoelectric switches and visual recognition systems replace manual identification and verification of pipe information, which significantly reduces the labor intensity of operators and improves the safety of raw material pipes in and out of the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic elevation diagram of an automated three-dimensional warehouse for steel pipes in an embodiment of the present utility model;

[0019] Figure 2 This is a schematic elevation view of the feeding platform in the embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the unpowered roller conveyor in an embodiment of the present utility model;

[0021] Figure 4 This is a schematic elevation view of a length measuring propulsion device in an embodiment of the present utility model;

[0022] Figure 5 This is a schematic elevation view of a tube turning device in an embodiment of the present utility model;

[0023] Figure 6 This is a schematic elevation view of a stepping device in an embodiment of the present utility model;

[0024] Figure 7 This is a schematic elevation diagram of a power conveying roller conveyor in an embodiment of the present utility model;

[0025] Figure 8 This is a schematic diagram of the structure of the shelf side lifting platform in an embodiment of the present utility model;

[0026] Figure 9 This is a front view of the structure of the hoisting and lifting crane system in an embodiment of the present utility model;

[0027] Figure 10 This is a top view of the structure of the hoisting and lifting crane system in an embodiment of the present utility model;

[0028] Figure 11 This is a front view of the storage tray structure in an embodiment of the present utility model;

[0029] Figure 12 This is a top view of the depository tray structure in an embodiment of the present utility model;

[0030] In the figure: 1. Loading platform; 2. Non-powered roller; 3. Pipe turning device; 4. Length measuring and propulsion device; 5. Specification verification device; 6. Stepping device; 7. Three-dimensional shelf; 8. Shelf side lifting platform; 9. Storage tray; 10. Powered conveying roller; 1-1. Frame; 1-2. Conveyor chain mechanism; 1-3. Driving mechanism; 2-1. Frame; 2-2. Bearing seat; 2-3. V-shaped roller; 3-1. Turning gear; 3-2. V-shaped roller; 3-3. Pipe turning reduction motor. DETAILED DESCRIPTION

[0031] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0032] like Figure 1 As shown, the utility model provides an automated three-dimensional warehouse for steel pipes, which is mainly composed of a feeding platform 1, a non-powered roller conveyor 2, a pipe turning device 3, a length measuring and propulsion device 4, a specification review device 5, a stepping device 6, a three-dimensional shelf 7, a shelf side lifting platform 8 (including a lifting platform, a pallet pushing and pulling mechanism, a pipe lifting and traveling mechanism, etc.), a storage pallet 9, a powered conveying roller conveyor 10 and an electronic control system.

[0033] The branch loading platform 1 is arranged on the feeding side of the three-dimensional shelf 7. The branch loading platform 1 is provided with a non-powered roller 2 and a pipe turning device 3. The length measuring and propulsion device 4 is installed above the non-powered roller 2. The specification review device 5 is installed at the end of the pipe storage conveyor line. The stepping device 6 is a chain conveyor line, which is arranged under the three-dimensional shelf 7 and is used to continue to convey the steel pipes that meet the storage conditions to the powered conveying roller 10; the shelf side lifting platform 8 is cantilevered and hung on the outside of the three-dimensional shelf 7, and a storage tray 9 is placed on the shelf side lifting platform 8.

[0034] Each device mechanism, under the control of PLC, runs the program and has limit protection to transport the pipes to the workstations required by the system as required, completing the storage and outbound processes.

[0035] This automated steel pipe warehouse is designed to identify, store, and transport raw pipes. Storage specifications include: Outer diameter: Φ48-Φ219, wall thickness: 3-15mm, length: 1000-12000m, weight: ≤1000kg per pipe, material: carbon steel and stainless steel, and storage capacity: 64 pipes.

[0036] Pipes are manually placed onto the bulk loading platform and laid out neatly. The equipment utilizes speed differentials to space the pipes apart, allowing each pipe to be fed into the stepper mechanism one by one until all units of the conveyor chain mechanism on the platform are filled. The maximum storage capacity is approximately 20 pipes. The conveyor chain mechanism finally intersects with the outbound V-shaped roller conveyor line, where baffles are installed to ensure the pipes fall smoothly onto the V-shaped roller conveyor line. Embedded in the head of the stepper feed mechanism is a lifting conveyor line that raises the pipes and runs them to the same position at the head for specification measurement. If the pipes pass the test, the line descends, and the stepper mechanism continues to feed the pipes. If the pipes fail the test, the line does not descend and is directly delivered to the outbound line and onto the platform.

[0037] The three-dimensional rack 7 is a frame structure, approximately 6.5 meters high, 13.2 meters wide, and 3.2 meters thick. It features eight layers of pallet storage drawers, each capable of storing eight pallets. Each pallet rests on a non-powered roller conveyor, passively feeding and unloading the drawers. Each pallet can hold eight pipes, for a total storage capacity of 64 pipes. The three-dimensional rack 7 features an integrated chassis to distribute gravity and meet floor load requirements. The bottom of the three-dimensional rack 7 is elevated, allowing the feed platform to pass through the space below, increasing the platform's storage capacity.

[0038] The shelf side lifting platform 8 is cantilevered and hung on the outside of the three-dimensional shelf 7. It has a frame structure and its dimensions (approximately) are: 13 meters wide, 1.8 meters high, and 4.6 meters deep. It has three actions:

[0039] (1) Lifting and lowering, it can be aligned with each drawer slot of the shelf to carry out pallet loading and unloading operations.

[0040] (2) The tray receiving and delivering power device can hook the tray in the drawer slot and send it in and out.

[0041] (3) The pipe hoist is installed on the platform above the pallet, and it rises and falls accordingly and can move horizontally. When the pipe is out of the warehouse, the pallet is pulled out, and the designated pipe storage unit on it is aligned with the pipe hoist device. The device directly lifts the pipe in the unit, and the pallet returns immediately. The pipe hoist moves horizontally to its position according to the instruction, and puts the pipe down to the conveyor line, and the pipe is out of the warehouse. The opposite is true for storage.

[0042] There are 8 sets of trays in total, with a frame structure. They can move forward and backward on the powered roller conveyor inside and outside the drawer slot. There are 8 V-shaped grooves inside, which can hold pipes of various specifications.

[0043] The device 5 for checking the pipe diameter, wall thickness, and length is installed at the end of the pipe storage conveyor line. The outer diameter and wall thickness are checked by photography. If the parameters are correct, the process automatically proceeds to the next step. If the check is wrong, the system will alarm and manual intervention will be required.

[0044] The feeding platform 1 is divided into three-level chains. Several pipes with similar outer diameters are manually placed on the first-level chain of the feeding platform. The speed difference of the three-level chain is used to divide the pipes, increase the distance between the pipes, and deliver the pipes to the subsequent process links.

[0045] The frame 1-1 of the loading platform 1 is welded from profiles, and all the kinematic pairs are installed on it.

[0046] The conveyor chain mechanism 1-2 is divided into three levels, with the same speed in each level and an increase in speed between levels. It is composed of a bearing seat, shaft, transmission sprocket, transmission chain, fasteners and other parts. The driving mechanism 1-3 is driven by a reduction motor with a drive chain, and the speed is increased by levels by the difference in the number of teeth of the drive sprocket. It is composed of a reduction motor, transmission chain, drive sprocket group, fasteners and other parts (see Figure 2 ).

[0047] The single pipe rolling down from the feeding platform 1 passes through the ramp and the blocking link and falls onto the single-row unpowered roller 2 to prepare for the subsequent pipe feeding process.

[0048] The frame 2-1 of the unpowered roller conveyor 2 is welded from profiles, and all the moving parts, ramps and blocking units are installed or welded on the frame.

[0049] The unpowered roller table 2 is composed of a bearing seat 2-2, a V-shaped roller 2-3 and other parts (see Figure 3 ).

[0050] After the pipe falls onto the unpowered roller conveyor 2, the length measuring propulsion device 4 pushes the pipe forward along the unpowered roller conveyor 2 and enters the subsequent process. The length measuring propulsion device 4 is located above the unpowered roller conveyor 2. While completing the propulsion process, the length of the pipe is calculated based on the travel distance of the push head and the sensor signal. During the propulsion process, in order to coordinate the stable operation of the previous and next processes, the length measuring propulsion device 4 can reasonably distribute the propulsion speed so that all large and small pipes can move forward smoothly, and during the entire propulsion process, the push head and the rear end face of the pipe are in contact without separation. After the length measuring propulsion device 4 pushes the steel pipe to the stop position, the visual system of the specification review device 5 will review the wall thickness and diameter of the steel pipe and enter the data into the storage system to facilitate subsequent warehousing and outbound transportation.

[0051] When the length measuring and pushing device 4 is working, the gear is driven by the reduction motor to rotate, and the gear rack is engaged to realize the push head to move forward, and then the push head pushes the pipe forward on the non-powered roller 2. The speed of the reduction motor is controlled by frequency conversion, the distance of the push head on the encoder side is detected, and the photoelectric switch detects the head of the pipe. Finally, after the pipe is pushed into place, a subtraction operation is performed to obtain the actual length of the pipe for system review. The push head running track is an I-steel. During operation, corresponding guide rollers are set in each direction to ensure smooth operation and low noise (see Figure 4 ).

[0052] The pipe turning device 3 is composed of a pipe turning reduction motor 3-3, gears, a turning gear 3-1 and a V-shaped roller 3-2 (see Figure 5 ), the tube turning reduction motor 3-3 is connected to the turning gear 3-1 through gear meshing, and the rotating shaft of the turning gear 3-1 is fixedly connected to the V-shaped roller 3-2.

[0053] The steel pipe enters the pipe turning device 3 from the length measuring propulsion device 4. After the control system makes a judgment, it starts the pipe turning reduction motor to drive the V-shaped roller without the pipe turning device 3 to turn to both sides in an orderly and stable manner as required, so that the steel pipes that do not meet the storage conditions enter the pipe withdrawal platform, and the steel pipes that can be stored enter the stepping device 6.

[0054] The steel pipes that meet the storage conditions enter the stepping device 6 from the pipe turning device 3. The stepping device 6 is a chain conveyor line, which is set under the three-dimensional shelf 7. Its function is to continue to transport the steel pipes that meet the storage conditions to the power conveying roller 10. The stepping device 6 can be operated automatically or manually ( Figure 6 ).

[0055] After the steel pipe enters the power conveyor roller 10, it automatically rotates forward and backward according to the control requirements. It can be directly sent to the steel pipe cutting unit, or it can be sent to the center for storage. One side of the power conveyor roller 10 is connected to the stepping device 6, and the other side is equipped with a protective wing to prevent the steel pipe from falling (see Figure 7 ).

[0056] The steel pipe is transported to the center by the power conveyor roller 10 and waits for storage. At this time, the shelf side lifting platform 8 is lowered, and the four corners of the shelf side lifting platform 8 are equipped with lifting guide wheels (see Figure 8 ), the lifting action is completed inside the 7 columns of the three-dimensional shelf, the pallet push-pull mechanism, and the lifting and hoisting system operate inside it. The final placement of the pipes is completed by the lifting and hoisting system (see Figure 9 , Figure 10 There is one crane on each side, a wire rope hoist is raised and lowered, and the hook is opened and closed left and right. After the pipe is taken in and put out, the wire rope is raised and lowered. The entire beam has a translation function and can be positioned in two positions as required. Combined with the platform lifting, the pipe lifting operation is completed.

[0057] After the shelf side lifting platform 8 lifts the pipe to the designated shelf level, the push-pull device completes the push-pull operation of the storage tray 9. The storage tray 9 is a welded part with a V-shaped bracket inside. It can store up to 8 round pipes and has a maximum load of 8 tons (see Figure 11 , Figure 12 Four wheels are installed on both sides of the storage tray 9. When the storage tray 9 is pulled or pushed, the wheels roll on the tracks, enabling the storage tray 9 to enter and exit the three-dimensional shelf 7 and the shelf side lifting platform 8. This completes the automatic storage of raw pipes, and the automatic removal of raw pipes is reversed.

[0058] The pipe warehouse system control is a control system with PLC as the host, which is responsible for the control of all equipment in the system. The operation of all equipment is automatically controlled, and the system has an automatic / manual switching function.

[0059] The control system host adopts Siemens programmable logic controller (PLC).

[0060] The main equipment of the electric control system includes: control cabinet, operating console, emergency stop button box, photoelectric switch, proximity switch, magnetic switch, signal light and buzzer alarm, etc. The main components are all imported or joint venture products.

[0061] The system has an operation fault alarm function; when the equipment is in operation or when a fault occurs, the system sets corresponding sound and light signals to remind users to pay attention to safety and fault reminders.

[0062] By integrating with the BCS system, the warehouse management system acquires pipe information (diameter, wall thickness, length, and material). The warehouse management system automatically allocates and memorizes incoming storage locations, and the equipment automatically delivers pipes from the incoming conveyor line to the designated storage location for temporary storage. For pipe outbound delivery, the warehouse management system receives outbound instructions from the BCS system, controls the equipment to automatically retrieve pipes from the designated storage location, and delivers them to the outbound conveyor line. The outbound conveyor line can automatically connect to subsequent process equipment.

Claims

1. A steel pipe automated warehouse, characterized by: It includes a dedicated loading platform, a non-powered roller, a pipe turning device, a length measuring and pushing device, a specification review device, a stepping device, a three-dimensional shelf, a shelf side lifting platform, a custody tray, a powered conveying roller and an electronic control system. The dedicated loading platform is arranged on the feeding side of the three-dimensional shelf. The dedicated loading platform is equipped with a non-powered roller and a pipe turning device. The length measuring and pushing device is installed above the non-powered roller. The specification review device is installed at the end of the pipe storage conveyor line. The stepping device is a chain conveyor line, which is arranged under the three-dimensional shelf and is used to continue to convey the steel pipes that meet the storage conditions to the powered conveying roller; the shelf side lifting platform cantilever side is hung on the outside of the three-dimensional shelf, and a custody tray is placed on the shelf side lifting platform; the electronic control system is connected to the non-powered roller, the pipe turning device, the length measuring and pushing device, the specification review device, the stepping device and the shelf side lifting platform, and is used to convey the pipes to the required workstations as required under the control of the PLC to complete the entry and exit of the warehouse.

2. The steel pipe automated warehouse according to claim 1, characterized in that: The three-dimensional shelf is a frame structure with multi-layer storage tray drawers that can store multiple custody trays. Each custody tray is placed in the storage tray drawer and on a non-powered roller conveyor for passive in and out transport.

3. The steel pipe automated warehouse according to claim 2, characterized in that: The storage tray has a frame structure and can move forward and backward on the powered rollers inside and outside the drawer slot. It is equipped with a V-shaped groove for placing pipes of various specifications; four wheels are installed on both sides of the storage tray.

4. The steel pipe automated warehouse according to claim 1, characterized in that: The specification verification device uses photography to verify the outer diameter and wall thickness of the steel pipe.

5. The steel pipe automated warehouse according to claim 1, characterized in that: The feeding platform is equipped with a three-stage chain arrangement, wherein a number of pipes with similar outer diameters are placed on the first-stage chain arrangement of the feeding platform. The third-stage chain arrangement connects the conveying chain mechanism and the driving mechanism. The speed difference of the three-stage chain arrangement is used to divide the pipes, increase the distance between the pipes, and deliver the pipes to the subsequent process links. The conveying chain mechanism is divided into three levels, with the same speed in each level and an increase in speed between levels. It consists of a bearing seat, a shaft, a transmission sprocket, a transmission chain, and fasteners. The driving mechanism consists of a reduction motor, a transmission chain, a drive sprocket group, and fasteners. The reduction motor is connected to the transmission chain through the drive sprocket group, and the stage-by-stage increase in speed is achieved by the difference in the number of teeth of the drive sprockets.

6. The steel pipe automated warehouse according to claim 1, characterized in that: The frame of the unpowered roller conveyor is welded from profiles, and all moving pairs, ramps and blocking units are installed or welded on the frame; the unpowered roller conveyor consists of a bearing seat and a V-shaped roller installed in the bearing seat; one side of the powered conveyor roller conveyor is connected to the stepping device, and the other side is equipped with a protective wing to prevent the steel pipe from falling.

7. The steel pipe automated warehouse according to claim 1, characterized in that: The length measuring and propulsion device includes a reduction motor, gears, racks, a push head, a frequency converter, an encoder, and a photoelectric switch. The reduction motor is connected to the rack through the gear, and the rack is connected to the push head. The push head is placed on the running track, and corresponding guide rollers are set in each direction. The gear is driven by the reduction motor to rotate, and the gear and rack are engaged to realize the advancement of the push head, and then the push head pushes the pipe forward on the unpowered roller; the reduction motor is connected to the frequency converter, and the operating speed is controlled by the frequency converter. The encoder is used to detect the running distance of the push head, and the photoelectric switch is used to detect the head of the pipe. Finally, after the pipe is pushed into place, a subtraction operation is performed to obtain the actual length of the pipe for system review.

8. The steel pipe automated warehouse according to claim 1, characterized in that: The pipe turning device consists of a pipe turning reduction motor, gears, a turning gear and a V-shaped roller. The pipe turning reduction motor is connected to the turning gear through gear meshing, and the rotating shaft of the turning gear is fixedly connected to the V-shaped roller.

9. The steel pipe automated warehouse according to claim 1, characterized in that: The shelf side lifting platform has a lifting platform, a pallet pushing and pulling mechanism, and a hanging pipe lifting and traveling mechanism. The hanging pipe lifting and traveling mechanism is installed on the lifting platform, above the pallet, and rises and falls with the lifting platform, and can move horizontally; the lifting platform can be aligned with each drawer slot of the shelf to carry out pallet loading and unloading operations; The pallet pushing and pulling mechanism is used to hang the pallet in the drawer slot and send it in and out; the four corners of the shelf side lifting platform are equipped with lifting guide wheels, which are used to complete the lifting action on the inside of the three-dimensional shelf column. The pipe lifting and traveling mechanism adopts wire rope hoist for lifting, and the hook opens and closes left and right. After taking and placing the pipe, the wire rope rises and falls, and the entire beam can be positioned in two positions as required. Combined with the platform lifting, the lifting operation of the pipe is completed; after the shelf side lifting platform lifts the pipe to the designated shelf level, the pushing and pulling operation of the storage pallet is completed by the pushing and pulling device.

10. The steel pipe automated warehouse according to claim 1, characterized in that: The electronic control system uses PLC as the main control system, which is responsible for the control of all equipment in the system. The operation of all equipment is automatically controlled, and the system has automatic / manual switching function.

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