Intelligent warehousing system for long steel plate materials

Abstract

The utility model discloses an intelligent warehousing system for long steel plate materials. The intelligent warehousing system comprises a pair of ground rails arranged in a warehouse in parallel and two groups of six-axis mechanical arms with mechanical grippers, wherein the six-axis mechanical arms walk along the ground rails; a plurality of rows of carrying frames are arranged between the two ground rails, each row of carrying frames is composed of a plurality of supporting frame bodies arranged at intervals, a plurality of vertical blocking strips are arranged on each supporting frame body at intervals, and a containing groove is formed between every two adjacent vertical blocking strips. A cushion block frame is correspondingly arranged on one side of each row of carrying frames, and a plurality of material cushion blocks are placed on the cushion block frames in a stacked mode. The device has the advantages that the two six-axis mechanical arms are dispatched to work cooperatively to store and take long steel plate materials in an automatic and intelligent control mode innovatively, automation and flexibility of storing and taking operation are guaranteed, and the problems of deformation, bending, drooping and the like of the long steel plate materials in the carrying and storing process are effectively solved; and the functions of automatic carrying, automatic storage, automatic warehouse-in and warehouse-out, intelligent management and the like of long steel plate materials are achieved.

Description

Technical Field

[0001] This utility model relates to the field of material storage technology, and in particular to an intelligent storage system for long steel plates. Background Technology

[0002] Currently, long steel plates with lengths of 2.5 to 12 meters and widths of 0.1 to 0.3 meters are frequently used in bridge construction, building construction, cofferdam construction, pipeline construction, and heavy vehicle manufacturing. After processing, these long steel plates are typically stacked in warehouses. Currently, the handling of these long steel plates often involves pushing them outside the warehouse using conveyor frames, where they are then received by receiving equipment and transported back inside for stacking. However, misalignment between the receiving equipment's inlet and the conveyor frame prevents precise alignment, necessitating manual handling or alignment using other equipment. This increases storage difficulty and manpower costs, failing to meet the demands of automation and impacting the storage efficiency of long steel plates. Summary of the Invention

[0003] The purpose of this utility model is to provide an intelligent warehousing system for long steel plates, addressing the shortcomings of existing technologies.

[0004] To achieve the above objectives, the present invention can adopt the following technical solution:

[0005] The intelligent warehousing system for long steel plates described in this utility model includes a pair of parallel ground rails arranged in the warehouse, and two sets of six-axis robotic arms with mechanical grippers that travel along the ground rails; between the two ground rails are multiple rows of carriers for stacking and storing long steel plates, each row of carriers is composed of multiple support frames arranged at intervals, and each support frame has multiple vertical baffles arranged at intervals, with a placement groove for holding the long steel plates between adjacent vertical baffles; a pad rack is provided on one side of each row of carriers, and multiple material pads for placing between adjacent layers of long steel plates are stacked on the pad rack.

[0006] Furthermore, in order to easily and adaptably grasp long steel plate materials, the mechanical gripper includes a rotating base connected to the six-axis robotic arm. A gripping frame is fixedly connected to the rotating base. The ends of the gripping frame are equipped with pairs of gripping cylinders with opposite extension and retraction directions along the width direction. Vertically downward gripping jaws are connected to the extension and retraction ends of the gripping cylinders. The lower ends of the gripping jaws have L-shaped locking blocks for holding the edges of the long steel plate materials. A vertically downward pressing cylinder is connected to the gripping frame between the two gripping jaws through a connecting frame. A rubber pressure head is fixedly connected to the extension and retraction ends of the pressing cylinder.

[0007] Furthermore, the pad frame has multiple pairs of vertical stops evenly spaced, and the material pad has a rectangular plate structure, the width of which is consistent with the spacing between the two pairs of vertical stops, ensuring that the material pad can be stably stacked on the pad frame. To further improve the stability of the material pad when it is placed, a pair of matching slots can be provided on each material pad to fit and block the vertical stops. The slots not only ensure that the material pad is stably locked between the two pairs of vertical stops, but also do not affect the gripping of the mechanical gripper.

[0008] The advantages of this invention lie in its ability to easily grasp both ends of long steel plates and accurately transport and place them onto each rack using two sets of six-axis robotic arms that travel along ground tracks, in conjunction with specialized mechanical grippers. It innovatively employs automated and intelligent control methods to coordinate the collaborative operation of the two six-axis robotic arms for storing and retrieving long steel plates, ensuring automation and flexibility in the storage and retrieval process. It is compatible with both long steel plates and material pads, ensuring gripping stability and effectively preventing deformation, bending, and sagging of long steel plates during handling and storage. This achieves functions such as automatic handling, automatic storage, automatic warehousing, and intelligent management of long steel plates. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the structure of this utility model.

[0010] Figure 2 yes Figure 1 A schematic diagram showing the connection between the ground rail and the six-axis robotic arm.

[0011] Figure 3 yes Figure 2 Enlarged axonometric view of the mechanical gripper.

[0012] Figure 4 yes Figure 1 Enlarged view of the central support frame.

[0013] Figure 5 yes Figure 1 Enlarged view of the center pad block frame. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] like Figure 1-5As shown, the intelligent warehousing system for long steel plates of this utility model includes a pair of parallel floor rails 1 arranged in the warehouse. Each floor rail 1 is equipped with a set of six-axis robotic arms 2 that reciprocate along its length. The six-axis robotic arms 2 are equipped with mechanical grippers 3 for gripping operations. Multiple rows of racks for stacking and storing long steel plates 100 are arranged in the warehouse between the two floor rails 1. Each row of racks consists of multiple support frames 4 arranged at intervals. The support frames 4 can be screwed and fixed to the warehouse floor. Each support frame 4 has multiple vertical baffles 5 arranged at intervals, with equal spacing between adjacent vertical baffles 5, forming a placement groove 6 for holding the long steel plates 100. Additionally, a pad rack 7 is correspondingly arranged on one side of each row of racks, with multiple material pads 8 stacked on the pad rack 7 for placing between adjacent layers of long steel plates 100.

[0016] Specifically, the mechanical gripper 3 includes a rotating base 3.1 coaxially connected to the sixth axis of the six-axis robotic arm 2. A gripping frame 3.2 is fixedly connected to the rotating base 3.1, which is located at the center of the gripping frame 3.2. At this time, gripping cylinders 3.3 with opposite extension and retraction directions are arranged in pairs along the width direction at both ends of the gripping frame 3.2. A gripper 3.4 perpendicular to the gripping frame 3.2 is connected to the extension and retraction end of the gripping cylinder 3.3. The lower end of the gripper 3.4 has an L-shaped locking block 3.5. The L-shaped locking blocks 3.5 on the two grippers 3.4 are arranged facing each other for gripping long steel plates. On the opposite side edges of the material 100, a vertically downward-extending clamping cylinder 3.6 is connected to the gripping frame 3.2 between the two grippers 3.4 via a connecting frame. A rubber pressure head 3.7 for pressing the upper surface of the long steel plate material 100 is fixed to the extension end of the clamping cylinder 3.6. The pair of grippers 3.4 driven by the gripping cylinder 3.3 to move in opposite directions can easily and appropriately grip the long steel plate material 100. At the same time, the rubber pressure head 3.7 on the extension end of the clamping cylinder 3.6 presses and fixes the gripped long steel plate material 100, ensuring a stable grip of the long steel plate material 100.

[0017] Furthermore, multiple pairs of vertical baffles 9 are evenly spaced on the pad frame 7. The material pad 8 has a rectangular plate structure, and its width is consistent with the spacing between the two pairs of vertical baffles 9 and the width of the long steel plate material 100, ensuring that the material pad 8 can be stably stacked on the pad frame 7. To further improve the stability of the material pad 8 when it is placed, a pair of opening slots 10 that fit and block the vertical baffles 9 can be set horizontally outward on each material pad 8. The opening slots 10 can not only ensure that the material pad 8 is stably blocked between the two pairs of vertical baffles 9, but also do not affect the gripping of the mechanical gripper 3.

[0018] During operation, two sets of six-axis robotic arms 2 grip both ends of the long steel plate material 100, ensuring that the length direction of the gripping frame 3.2 is aligned with the length direction of the long steel plate material 100. Then, the paired grippers 3.4 at the ends of the gripping frame 3.2 clamp the opposite side edges of the long steel plate material 100, and the rubber pressure head 3.7 on the telescopic end of the clamping cylinder 3.6 presses against the upper surface of the long steel plate material 100, thus firmly gripping both ends of the long steel plate material 100. Afterwards, the two sets of six-axis robotic arms 2 move simultaneously along the ground rail 1, transporting the long steel plate material 100 to its designated position and placing it in one of the placement slots 6 of the entire rack. After each layer of long steel plate material 100 is stacked, the six-axis robotic arms 2 grip the material pad 8 from the pad frame 7 and place it on top of the long steel plate material 100, thus positioning the material pad 8 between adjacent layers of long steel plate material 100. The entire process innovatively adopts an automated and intelligent control method to schedule two six-axis robotic arms 2 to work together to store and retrieve long steel plate materials 100, ensuring the automation and flexibility of the storage and retrieval operation, and being compatible with the gripping of long steel plate materials 100 and material pads 8, ensuring the stability of the gripping, and effectively avoiding problems such as deformation, bending, and sagging of long steel plate materials 100 during the handling and storage process, realizing functions such as automatic handling, automatic storage, automatic entry and exit from the warehouse and intelligent management of long steel plate materials 100.

[0019] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0020] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A long steel plate material intelligent warehousing system, characterized in that: The application relates to a long steel plate stacking and unstacking device, which comprises a pair of ground rails arranged in parallel in a warehouse, two groups of six-axis mechanical arms provided with mechanical grippers and walking along the ground rails, a plurality of rows of carriers for stacking and storing long steel plate materials are arranged between the two ground rails, each row of carriers is composed of a plurality of support frames arranged at intervals, a plurality of vertical blocking strips are arranged on each support frame at intervals, and a placing groove for clamping the long steel plate materials is formed between two adjacent vertical blocking strips; a cushion block frame is arranged on one side of each row of carriers, and a plurality of material cushion blocks for being arranged between upper and lower adjacent layers of long steel plate materials are stacked on the cushion block frame. 2.The long steel plate material intelligent storage system according to claim 1, characterized in that: Pairs of vertical blocking rods are uniformly and interval arranged on the cushion block frame, the material cushion blocks are in rectangular plate structures, and the width of the material cushion blocks is consistent with the interval of the two vertical blocking rods arranged in pairs.

3. The long steel plate material intelligent warehousing system according to claim 2, characterized in that: A pair of open grooves for being clamped on the vertical blocking rods are arranged on each material cushion block.

4. The long steel plate material intelligent warehousing system according to claim 1, characterized in that: The mechanical gripper comprises a rotating seat connected to the six-axis mechanical arm, a grabbing frame is fixedly connected to the rotating seat, a pair of grabbing cylinders with opposite extension directions are arranged on the end of the grabbing frame in the width direction, vertical downward clamping claws are connected to the extension ends of the grabbing cylinders, L-shaped clamping blocks for clamping the edges of the long steel plate materials are arranged on the lower ends of the clamping claws, a vertical downward jacking cylinder is connected to the grabbing frame between the two clamping claws through a connecting frame, and a rubber pressure head is fixedly connected to the extension end of the jacking cylinder.

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