CN112938278B - Automatic warehouse goods moving platform and management method thereof - Google Patents
Automatic warehouse goods moving platform and management method thereof Download PDFInfo
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- CN112938278B CN112938278B CN202110112693.3A CN202110112693A CN112938278B CN 112938278 B CN112938278 B CN 112938278B CN 202110112693 A CN202110112693 A CN 202110112693A CN 112938278 B CN112938278 B CN 112938278B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses an automatic warehouse goods moving platform and a management method thereof, relates to the technical field of automatic warehouse goods moving platforms, and aims to solve the problems that the existing automatic warehouse goods moving platform is generally divided into a ground moving type and a hoisting type, the hoisting type moving platform has large moving range limitation when hoisting and moving objects, and a top conveying mechanism cannot be flexibly combined and connected. The storage goods moving platform body comprises top conveying mechanism and middle part docking mechanism, flexible outer tube is installed to top conveying mechanism's outer wall, flexible inner tube is installed to the outer wall of flexible outer tube, moving mechanism is installed to one side of flexible inner tube upper end, electronic slide rail is installed to moving mechanism's top, the AGV locomotive is installed to the top of electronic slide rail, second electric hydraulic cylinder is installed to moving mechanism's one end, second electric hydraulic push rod is installed to second electric hydraulic cylinder's output.
Description
Technical Field
The invention relates to the technical field of automatic warehouse goods moving platforms, in particular to an automatic warehouse goods moving platform and a management method thereof.
Background
The traditional storage refers to the activities of warehousing, storing and delivering articles from various materials and related facilities and equipment by using a warehouse. Modern storage refers to the links of processing, sorting, packaging and the like in the warehouse which are added on the basis of the traditional storage, and the storage is one of the important links of production, manufacturing and commodity circulation and is also an important link of logistics activity.
However, the existing automatic warehouse goods moving platform is generally divided into a ground moving type and a hoisting type, and the hoisting type moving platform has large moving range limitation when hoisting and moving objects and cannot flexibly combine and connect the top conveying mechanism; therefore, the existing requirements are not met, and an automatic warehouse goods moving platform and a management method thereof are provided for the automatic warehouse goods moving platform.
Disclosure of Invention
The invention aims to provide an automatic warehouse goods moving platform and a management method thereof, and aims to solve the problems that the conventional automatic warehouse goods moving platform in the background art is generally divided into a ground moving type and a hoisting type, the hoisting type moving platform has large moving range limitation when hoisting and moving objects, and a top conveying mechanism cannot be flexibly combined and connected.
In order to achieve the purpose, the invention provides the following technical scheme: the automatic storage goods moving platform comprises a storage goods moving platform body, wherein the storage goods moving platform body consists of a top conveying mechanism and a middle butt joint mechanism, a telescopic outer pipe is installed on the outer wall of the top conveying mechanism, a telescopic inner pipe is installed on the outer wall of the telescopic outer pipe, a moving mechanism is installed on one side of the upper end of the telescopic inner pipe, an electric slide rail is installed above the moving mechanism, an AGV moving vehicle is installed above the electric slide rail, a second electric hydraulic cylinder is installed at one end of the moving mechanism, a second electric hydraulic push rod is installed at the output end of the second electric hydraulic cylinder, the output end of the second electric hydraulic cylinder is in transmission connection with the second electric hydraulic push rod, the electric slide rail is in transmission connection with the AGV moving vehicle, a rotary table is installed below the telescopic outer pipe, a driving box is installed below the rotary table, and a stepping motor is installed inside the driving box, the step motor is characterized in that a coupler is installed at the output end of the step motor, a transmission rod is installed at the upper end of the coupler, the output end of the step motor is in transmission connection with the transmission rod through the coupler, the transmission rod is in transmission connection with a turntable, a middle rotary table is installed below a middle butt joint mechanism, a middle telescopic outer tube is installed above the middle rotary table, a middle telescopic inner tube is installed above the middle telescopic outer tube, and a middle butt joint table is installed above the middle telescopic inner tube.
Preferably, the internally mounted of flexible outer tube has first electric hydraulic cylinder, first electric hydraulic push rod is installed to first electric hydraulic cylinder's output, and first electric hydraulic cylinder's output is connected with flexible inner tube transmission through first electric hydraulic push rod, the removal spout is installed to the inner wall of flexible outer tube.
Preferably, the step motor driver is installed to step motor's input, step motor controller is installed to step motor driver's input, the PLC master control is installed to step motor controller's input, PLC master control and step motor controller electric connection, and step motor driver and step motor electric connection are passed through to step motor controller's output.
Preferably, a distance sensor is installed at the input end of the PLC master control, and the distance sensor is electrically connected with the PLC master control.
Preferably, the mounting panel is installed to the intermediate position department of AGV locomotive lower surface, the cylinder is installed to the below of mounting panel.
Preferably, the output end of the air cylinder is provided with a pneumatic push rod, the lower end of the pneumatic push rod is provided with a pneumatic clamp, and the output end of the air cylinder is in transmission connection with the pneumatic clamp through the pneumatic push rod.
Preferably, the electromagnet is installed in the middle of the lower surface of the pneumatic clamp, and the infrared sensor is installed on the outer wall of the front end face of the pneumatic clamp.
Preferably, an inlet and an outlet are installed on the outer wall of one side of the moving mechanism, telescopic baffles are installed inside the inlet and the outlet, and supporting plates are installed on two sides of the lower portion of the moving mechanism.
Preferably, the two sides of the middle butt joint mechanism are provided with the material accommodating layers.
Preferably, the method for managing the automated warehouse cargo moving platform includes the steps of:
the method comprises the following steps: the method comprises the following steps that an AGV moving vehicle is arranged on an electric sliding rail, so that goods are moved and conveyed by the electric sliding rail and the AGV moving vehicle, before the goods are moved and conveyed, the goods are clamped by the combination of an air cylinder, a pneumatic push rod and a pneumatic clamp, an electromagnet absorbs the goods which are not beneficial to clamping and fixing by utilizing the characteristics that the electromagnet generates magnetism when being electrified and the power-off magnetism disappears, and an infrared sensor is used for detecting and positioning the positions of the goods;
step two: the step motor is used for driving the transmission rod, the rotary plate and the upper accessories to rotate, so that the top conveying mechanism can be combined with another top conveying mechanism, when the top conveying mechanism needs to be combined, the second electric hydraulic cylinder is used for driving the second hydraulic push rod to push the moving mechanism to enable the electric slide rail on the moving mechanism to be connected with the electric slide rail at one end, so that the AGV moving vehicle can move from one top conveying mechanism to another top conveying mechanism and is matched with the middle butting mechanism for butting, the AGV moving vehicle can move left and right, front and back and obliquely, and the telescopic outer pipe and the telescopic inner pipe can facilitate a user to adjust the height of the top conveying mechanism;
step three: when the butt joint is carried out, the distance sensor is utilized to detect the butt joint distance and convey the distance to a PLC master control position, the PLC master control receives information and then controls the second electric hydraulic cylinder to carry out length control adjustment, the rotating direction of the stepping motor is controlled by the PLC master control, the stepping motor controller and the stepping motor driver are used for receiving signals and controlling the stepping motor to adjust the rotating position, and the first electric hydraulic cylinder is used for driving the first electric hydraulic push rod to push the telescopic inner pipe to move up and down.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the transmission rod, the turntable and the upper accessories are driven to rotate by the stepping motor, so that the top conveying mechanism can be combined with another top conveying mechanism, when the top conveying mechanism needs to be combined, the second electric hydraulic cylinder drives the second hydraulic push rod to push the moving mechanism, so that the electric slide rail on the moving mechanism is connected with the electric slide rail at one end, an AGV can move from one top conveying mechanism to another top conveying mechanism and is matched with the middle butting mechanism for butting, so that the AGV can move left and right, front and back and obliquely, the telescopic outer pipe and the telescopic inner pipe can facilitate a user to adjust the height of the top conveying mechanism, compared with a common stored goods moving platform, the problem that the top hoisting conveying platform has large limitation is improved, and the AGV can be combined, conveyed, and conveyed by goods, The lapped mode moves to another conveying mechanism from a top conveying mechanism, so that the flexibility of the moving process of the upper goods is improved, the limitation of a hoisting type is reduced, and the upper goods can be automatically transported, so that the lapped mode can be more suitable for users to use.
2. Through the combination that utilizes cylinder, pneumatic push rod and air jig come the centre gripping goods, the electro-magnet utilizes its circular telegram to produce magnetism, and the characteristic that outage magnetism disappears adsorbs some and is unfavorable for carrying out the fixed goods of centre gripping, and infrared ray sensor is used for detecting, the location the goods position, and the benefit of doing so is that convenience of customers presss from both sides the clamp to the goods more.
3. Utilize distance sensor to detect and carry PLC master control department to the distance of butt joint, PLC master control received information back control second electric hydraulic cylinder carries out length control and adjusts, step motor's direction of rotation is by PLC master control, step motor controller and step motor driver are used for received signal and control step motor and adjust the pivoted position, first electric hydraulic cylinder is used for driving first electric hydraulic push rod and promotes flexible inner tube and reciprocate, the benefit of doing so makes holistic more intelligent, convenience of customers controls more.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial structural view of the moving mechanism of the present invention;
FIG. 3 is a schematic diagram of the present invention;
FIG. 4 is a schematic view of a partial configuration of an AGV according to the present invention;
FIG. 5 is a schematic view of a portion of the top feed mechanism of the present invention;
in the figure: 1. a warehoused goods moving platform body; 2. a top conveying mechanism; 3. a middle docking mechanism; 4. a telescopic outer tube; 5. an inner telescopic pipe; 6. a moving mechanism; 7. an electric slide rail; 8. an AGV moves a vehicle; 9. mounting a plate; 10. a cylinder; 11. a pneumatic push rod; 12. a pneumatic clamp; 13. an electromagnet; 14. an inlet and an outlet; 15. a telescopic baffle; 16. a first electro-hydraulic ram; 17. a first electric hydraulic cylinder; 18. a drive box; 19. a stepping motor; 20. a coupling; 21. a transmission rod; 22. a turntable; 23. moving the chute; 24. a second electric hydraulic cylinder; 25. a second electro-hydraulic ram; 26. a distance sensor; 27. PLC master control; 28. a stepper motor controller; 29. a stepper motor driver; 30. a support plate; 31. an infrared sensor; 32. placing a layer; 33. a middle turntable; 34. a middle telescopic outer tube; 35. a middle telescopic inner pipe; 36. the middle part is butted with the platform.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, an embodiment of the present invention is shown: the automatic storage goods moving platform comprises a storage goods moving platform body 1, the storage goods moving platform body 1 consists of a top conveying mechanism 2 and a middle butt joint mechanism 3, a telescopic outer pipe 4 is installed on the outer wall of the top conveying mechanism 2, a telescopic inner pipe 5 is installed on the outer wall of the telescopic outer pipe 4, a moving mechanism 6 is installed on one side of the upper end of the telescopic inner pipe 5, an electric slide rail 7 is installed above the moving mechanism 6, an AGV moving vehicle 8 is installed above the electric slide rail 7, a second electric hydraulic cylinder 24 is installed at one end of the moving mechanism 6, a second electric hydraulic push rod 25 is installed at the output end of the second electric hydraulic cylinder 24, the output end of the second electric hydraulic cylinder 24 is in transmission connection with the second electric hydraulic push rod 25, the electric slide rail 7 is in transmission connection with the AGV moving vehicle 8, a rotary table 22 is installed below the telescopic outer pipe 4, and a driving box 18 is installed below the rotary table 22, the internally mounted of drive box 18 has step motor 19, shaft coupling 20 is installed to step motor 19's output, transfer line 21 is installed to shaft coupling 20's upper end, step motor 19's output passes through shaft coupling 20 and is connected with the transmission of transfer line 21 transmission, transfer line 21 is connected with carousel 22 transmission, middle part revolving stage 33 is installed to middle part docking mechanism 3's below, the flexible outer tube 34 in middle part is installed to the top of middle part revolving stage 33, the flexible inner tube 35 in middle part is installed to the top of the flexible outer tube 34 in middle part, middle part docking platform 36 is installed to the top of the flexible inner tube 35 in middle part.
Further, the internally mounted of flexible outer tube 4 has first electric hydraulic cylinder 17, and first electric hydraulic push rod 16 is installed to first electric hydraulic cylinder 17's output, and first electric hydraulic cylinder 17's output is connected with flexible inner tube 5 transmission through first electric hydraulic push rod 16, and removal spout 23 is installed to the inner wall of flexible outer tube 4.
Further, a stepping motor driver 29 is installed at the input end of the stepping motor 19, a stepping motor controller 28 is installed at the input end of the stepping motor driver 29, a PLC main control 27 is installed at the input end of the stepping motor controller 28, the PLC main control 27 is electrically connected with the stepping motor controller 28, and the output end of the stepping motor controller 28 is electrically connected with the stepping motor 19 through the stepping motor driver 29.
Further, distance sensor 26 is installed to the input of PLC master control 27, and distance sensor 26 and PLC master control 27 electric connection, and distance sensor 26's model is SV01A103AEA01R00, and it can be convenient for the user to detect the distance.
Further, a mounting plate 9 is mounted at the middle position of the lower surface of the AGV 8, an air cylinder 10 is mounted below the mounting plate 9, and the mounting plate 9 is used for mounting.
Further, a pneumatic push rod 11 is installed at the output end of the air cylinder 10, a pneumatic clamp 12 is installed at the lower end of the pneumatic push rod 11, the output end of the air cylinder 10 is in transmission connection with the pneumatic clamp 12 through the pneumatic push rod 11, and the air cylinder 10 is used for driving the pneumatic push rod 11 and the pneumatic clamp 12 to clamp.
Furthermore, the middle position department of air jig 12 lower surface installs electro-magnet 13, installs infrared ray sensor 31 on the outer wall of air jig 12 front end face, and electro-magnet 13 is used for adsorbing fixedly with the mode of magnetism, and infrared ray sensor 31's FHC, it can detect the position of goods.
Further, an inlet and an outlet 14 are installed on the outer wall of one side of the moving mechanism 6, a telescopic baffle 15 is installed inside the inlet and the outlet 14, supporting plates 30 are installed on two sides of the lower portion of the moving mechanism 6, and the telescopic baffle 15 is used for retracting into the inlet and the outlet 14 when an object needs to be clamped and extending out when the object does not need to be used.
Further, the two sides of the middle docking mechanism 3 are both provided with the material placing layers 32, and the material placing layers 32 can be used for placing objects.
Further, the management method of the automated warehouse cargo moving platform comprises the following steps:
the method comprises the following steps: the AGV moving vehicle 8 is arranged on the electric sliding rail 7, so that the electric sliding rail 7 and the AGV moving vehicle 8 carry out moving conveying of goods, before moving conveying of the goods, the combination of the air cylinder 10, the pneumatic push rod 11 and the pneumatic clamp 12 is used for clamping the goods, the electromagnet 13 is powered on to generate magnetism, and the power-off magnetism disappears so as to adsorb the goods which are not beneficial to clamping and fixing, and the infrared sensor 31 is used for detecting and positioning the positions of the goods;
step two: the step motor 19 is used for driving the transmission rod 21, the turntable 22 and the upper accessories to rotate, so that the top conveying mechanism 2 can be combined with another top conveying mechanism 2, when the top conveying mechanism needs to be combined, the second electric hydraulic cylinder 24 is used for driving the second hydraulic push rod 25 to push the moving mechanism 6 to enable the electric slide rail 7 on the moving mechanism 6 to be connected with the electric slide rail 7 at one end, so that the AGV moving vehicle 8 can move from one top conveying mechanism 2 to another top conveying mechanism 2 and is matched with the middle part butting mechanism 3 for butting, so that the AGV moving vehicle 8 can move left, right, front, back and obliquely, and the telescopic outer pipe 4 and the telescopic inner pipe 5 can be convenient for a user to adjust the height of the top conveying mechanism 2;
step three: during butt joint, a distance sensor 26 is used for detecting a butt joint distance and conveying the butt joint distance to a PLC main control 27, the PLC main control 27 receives information and then controls a second electric hydraulic cylinder 24 to control and adjust the length, the rotation direction of a stepping motor 19 is controlled by the PLC main control 27, a stepping motor controller 28 and a stepping motor driver 29 are used for receiving signals and controlling the stepping motor 19 to adjust the rotating position, and a first electric hydraulic cylinder 17 is used for driving a first electric hydraulic push rod 16 to push a telescopic inner pipe 5 to move up and down.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. Automatic change storage goods moving platform, including storage goods moving platform body (1), its characterized in that: the storage goods moving platform body (1) is composed of a top conveying mechanism (2) and a middle butt joint mechanism (3), a telescopic outer pipe (4) is installed on the outer wall of the top conveying mechanism (2), a telescopic inner pipe (5) is installed on the outer wall of the telescopic outer pipe (4), a moving mechanism (6) is installed on one side of the upper end of the telescopic inner pipe (5), an electric sliding rail (7) is installed above the moving mechanism (6), an AGV moving vehicle (8) is installed above the electric sliding rail (7), a second electric hydraulic cylinder (24) is installed at one end of the moving mechanism (6), a second electric hydraulic push rod (25) is installed at the output end of the second electric hydraulic cylinder (24), the output end of the second electric hydraulic cylinder (24) is in transmission connection with the second electric hydraulic push rod (25), and the electric sliding rail (7) is in transmission connection with the AGV moving vehicle (8), a rotary table (22) is arranged below the telescopic outer pipe (4), a driving box (18) is arranged below the rotary table (22), a stepping motor (19) is arranged in the driving box (18), a coupler (20) is arranged at the output end of the stepping motor (19), a transmission rod (21) is arranged at the upper end of the coupler (20), the output end of the stepping motor (19) is in transmission connection with the transmission rod (21) through the coupler (20), the transmission rod (21) is in transmission connection with the turntable (22), a middle rotary table (33) is arranged below the middle butt joint mechanism (3), a middle telescopic outer tube (34) is arranged above the middle rotary table (33), a middle telescopic inner pipe (35) is arranged above the middle telescopic outer pipe (34), and a middle butt joint platform (36) is arranged above the middle telescopic inner pipe (35).
2. The automated storage mover platform of claim 1, wherein: the utility model discloses a telescopic outer tube (4) for the automobile, including telescopic outer tube (4), internally mounted has first electric hydraulic cylinder (17), first electric hydraulic push rod (16) are installed to the output of first electric hydraulic cylinder (17), and the output of first electric hydraulic cylinder (17) is connected with flexible inner tube (5) transmission through first electric hydraulic push rod (16), removal spout (23) are installed to the inner wall of telescopic outer tube (4).
3. The automated storage mover platform of claim 2, wherein: step motor driver (29) are installed to the input of step motor (19), step motor controller (28) are installed to the input of step motor driver (29), PLC master control (27) are installed to the input of step motor controller (28), PLC master control (27) and step motor controller (28) electric connection, and step motor driver (29) and step motor (19) electric connection are passed through to the output of step motor controller (28).
4. The automated warehouse cargo moving platform of claim 3, wherein: distance sensor (26) are installed to the input of PLC master control (27), and distance sensor (26) and PLC master control (27) electric connection.
5. The automated warehouse cargo moving platform of claim 4, wherein: mounting panel (9) are installed to the intermediate position department of AGV locomotive (8) lower surface, cylinder (10) are installed to the below of mounting panel (9).
6. The automated warehouse cargo moving platform of claim 5, wherein: the pneumatic device is characterized in that a pneumatic push rod (11) is installed at the output end of the air cylinder (10), a pneumatic clamp (12) is installed at the lower end of the pneumatic push rod (11), and the output end of the air cylinder (10) is in transmission connection with the pneumatic clamp (12) through the pneumatic push rod (11).
7. The automated warehouse cargo moving platform of claim 6, wherein: an electromagnet (13) is installed in the middle of the lower surface of the pneumatic clamp (12), and an infrared sensor (31) is installed on the outer wall of the front end face of the pneumatic clamp (12).
8. The automated warehouse cargo moving platform of claim 7, wherein: install on the outer wall of moving mechanism (6) one side import and export (14), the internally mounted of importing and exporting (14) has telescopic baffle (15), backup pad (30) are all installed to the both sides of the below of moving mechanism (6).
9. The automated warehouse cargo moving platform of claim 8, wherein: and the two sides of the middle butt joint mechanism (3) are provided with accommodating layers (32).
10. The method for managing an automated warehouse cargo moving platform according to claim 9, comprising the steps of:
the method comprises the following steps: the method comprises the following steps that an AGV moving vehicle (8) is arranged on an electric sliding rail (7), so that the electric sliding rail (7) and the AGV moving vehicle (8) carry out moving conveying of cargos, the cargos are clamped by the combination of an air cylinder (10), a pneumatic push rod (11) and a pneumatic clamp (12) before moving conveying of the cargos, an electromagnet (13) adsorbs some cargos which are not beneficial to clamping and fixing by utilizing the characteristics that the electromagnet is electrified to generate magnetism and the power-off magnetism disappears, and an infrared sensor (31) is used for detecting and positioning the positions of the cargos;
step two: a stepping motor (19) is utilized to drive a transmission rod (21), a turntable (22) and upper accessories to rotate, so that the top conveying mechanism (2) can be combined with another top conveying mechanism (2), when the combination is needed, a second electric hydraulic cylinder (24) is utilized to drive a second electric hydraulic push rod (25) to push a moving mechanism (6) to enable an electric slide rail (7) on the moving mechanism (6) to be connected with an electric slide rail (7) at one end, so that an AGV moving vehicle (8) can move from one top conveying mechanism (2) to another top conveying mechanism (2), and is matched with an upper middle butt joint mechanism (3) to carry out butt joint, so that the AGV moving vehicle (8) can move left and right, front and back and obliquely, and a telescopic outer pipe (4) and a telescopic inner pipe (5) can be convenient for a user to adjust the height of the top conveying mechanism (2);
step three: when in butt joint, a distance sensor (26) is used for detecting the butt joint distance and conveying the butt joint distance to a PLC main control unit (27), the PLC main control unit (27) receives information and then controls a second electric hydraulic cylinder (24) to control and adjust the length, the rotating direction of a stepping motor (19) is controlled by the PLC main control unit (27), a stepping motor controller (28) and a stepping motor driver (29) are used for receiving signals and controlling the stepping motor (19) to adjust the rotating position, and a first electric hydraulic cylinder (17) is used for driving a first electric hydraulic push rod (16) to push a telescopic inner tube (5) to move up and down.
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