CN106829046B - Conveying and marshalling mechanism of profile steel stacker - Google Patents
Conveying and marshalling mechanism of profile steel stacker Download PDFInfo
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- CN106829046B CN106829046B CN201710225660.3A CN201710225660A CN106829046B CN 106829046 B CN106829046 B CN 106829046B CN 201710225660 A CN201710225660 A CN 201710225660A CN 106829046 B CN106829046 B CN 106829046B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/18—Stacking of articles of particular shape elongated, e.g. sticks, rods, bars
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a conveying and marshalling mechanism of a profile steel stacker crane, wherein the conveying and marshalling mechanism (1) is provided with a conveying chain assembly (1-1); the conveying chain assembly (1-1) is provided with a conveying chain frame body, a driving chain wheel, a driven chain wheel, a tensioning chain wheel and a conveying chain. By adopting the technical scheme, the method is very suitable for high-speed stacking of small section bars, has the advantages of rapid and accurate section bar grouping, high efficiency, good universality, high movement speed, accurate positioning and small impact, and solves the technical requirements of multi-variety and multi-specification section bar stacking processes; the automatic stacking device has the advantages of exquisite and novel structure, accurate movement position and quick action frequency response, and is suitable for automatic stacking of small sectional materials with quick stacking frequency requirements and high stacking precision.
Description
Technical Field
The invention belongs to the technical field of section steel packaging equipment, and particularly relates to a conveying and marshalling mechanism of a high-speed full-automatic section steel stacker crane.
Background
The section steel stacker is stacking equipment for stacking cut and straightened section steel into bundles according to the specified stack section size.
The section steel stacker in the prior art is mainly applied to the field of large-specification section steel production, has the outstanding problems of high cost, slow working beat, narrow applicable product specification range, low stacking efficiency, unstable work, large occupied area and the like, and is difficult to popularize and apply in enterprises of middle-specification and small-specification section steel types.
With the technical progress, the profile steel manufacturing enterprises upgrade and reform the rolling line, so that small H-shaped steel, channel steel, angle steel, C-shaped steel and other specifications of profile steel can be produced in the same rolling line, and investment cost is greatly saved.
However, the prior art medium-sized steel mechanical grouping method has the defects of low efficiency, manual adjustment on site and incapability of grouping small-sized steel; moreover, no suitable stacking equipment can simultaneously cover the automatic stacking work of the products in the production process of the section steel, and the universality is poor; the stacking of small-sized steel generally adopts a manual stacking mode, and has the outstanding problems of low efficiency, high labor cost, severe working environment, multiple potential safety hazards in safety production and the like.
In recent years, with the increase of labor cost, the expansion of production scale and the further standardization of environment and labor protection and the higher requirements of some large clients on the profile steel packaging, the profile steel production enterprises are urgent to expect that the full-automatic high-speed profile steel stacker replaces the existing manual or semi-automatic stacking mode.
Disclosure of Invention
The invention provides a conveying and marshalling mechanism of a profile steel stacker crane, which aims to improve production efficiency and realize automation of profile steel stacking.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a conveying and marshalling mechanism of a profile steel stacker crane, which is provided with a conveying chain assembly; the conveying chain assembly is provided with a conveying chain frame body, a driving chain wheel, a driven chain wheel, a tensioning chain wheel and a conveying chain.
The conveying chain components are connected through conveying chain synchronous transmission shafts.
A conveying chain transmission motor speed reducer is arranged in the middle of the conveying chain component.
A grouping bracket arm is arranged on the conveying chain assembly, and each grouping bracket arm is provided with a grouping bracket arm driving cylinder for driving the grouping bracket arm to lift; each grouping bracket is supported and fixed by a grouping bracket synchronizing shaft.
And a grouping stop block assembly is arranged on the conveying chain assembly.
The grouping stop block assembly is provided with a grouping support, a grouping sliding shaft, a spiral lifter and a grouping position encoder; the grouping support is fixed on the chain frame through bolts; the grouping sliding shaft moves back and forth in the grouping support under the drive of the spiral lifter; the grouping position encoder detects the real-time position of the grouping slide shaft.
The end part of the grouping sliding shaft is fixedly provided with a grouping stop block seat, and the grouping stop block seat is provided with a grouping stop block for up-and-down movement and is driven by a grouping stop block cylinder.
The tail end of the conveying chain frame body is provided with a fixed stop block, so that the section steel which is successfully grouped is positioned at a feeding position.
By adopting the technical scheme, the invention adopts the electromechanical-hydraulic integrated marshalling mode and the electrohydraulic proportional control connecting rod type stacking mechanism, is very suitable for high-speed stacking of small section bars, and overcomes various defects in the prior art compared with the traditional positive stacking and negative stacking mechanisms, so that the invention has the characteristics of rapid and accurate section steel marshalling, high efficiency and good universality, has the advantages of high moving speed, accurate positioning and small impact, and solves the technical requirements of multi-variety and multi-specification section steel stacking processes; the automatic stacking device has the advantages of exquisite and novel structure, accurate movement position and quick response of the action frequency, and is suitable for automatically stacking small sectional materials with quick stacking frequency requirements and high stacking precision; the requirements of grouping and stacking of angle steel, H-shaped steel, channel steel, I-shaped steel, rail steel, square steel and various special-shaped steels can be met on one piece of equipment by selecting the type, specification and length of the section steel; the connecting rod type stacking mechanism with the function of overturning the electromagnetic chuck realizes the integration of a positive code mechanism and a negative code mechanism; the unique pressing design can quickly separate the profile steel from the stacking mechanism and ensure the position and the posture of the profile steel in the blanking process; the method is an innovative design of a profile steel stacking method, improves the technical level of production process equipment of enterprises, reduces the operation cost, better controls the product quality, has obvious economic benefit and has wide market popularization value.
Drawings
The contents of the drawings and the marks in the drawings are briefly described as follows:
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a schematic view of the transport and grouping mechanism of FIG. 1;
FIG. 3 is a side view of the transport and grouping mechanism of FIG. 2;
FIG. 4 is a schematic view of the palletizing mechanism of FIG. 1;
FIG. 5 is a schematic view of the palletizing electromagnetic chuck assembly of FIG. 4;
FIG. 6 is a schematic structural view of the pressing mechanism in FIG. 1;
FIG. 7 is a schematic view of the loading and stacking mechanism of FIG. 1; the feeding and stacking mechanism in the middle position displays the internal structure;
fig. 8 to 15 are operational state diagrams of each mechanism of the automatic grouping process flow, in which:
FIG. 8 shows the grouping block in a stop position in a positive setting;
FIG. 9 shows the completion of the grouping condition and the ascending of the grouping bracket, separating the positive-type steel bars;
FIG. 10 illustrates the group block falling in a clear position;
FIG. 11 illustrates the grouping block raised in the inverted stop position;
FIG. 12 illustrates the marshalling mechanism entering an inverse marshalling mode;
FIG. 13 shows the ascending of the pallet, separating the rows of inverted gauge steel;
FIG. 14 shows a grouped inverted profile bar being fed through a conveyor chain to a feed fixed stop;
FIG. 15 illustrates the grouping mechanism re-entering the positive grouping mode;
fig. 16 to 28 are views showing the operational states of the mechanisms in the automatic forward and reverse stacking process of the stacking mechanism, wherein:
FIG. 16 is a state diagram of the palletizing mechanism at the positive palletizing standby level and the pressing mechanism at the positive palletizing pressing level;
FIG. 17 is a view showing a state in which the loading carriage is raised;
FIG. 18 is a state diagram of the electromagnetic chuck powered on and the section bar row attracted to the electromagnetic chuck;
FIG. 19 is a state diagram of the palletizing mechanism being swung;
FIG. 20 is a state diagram of the palletizing mechanism moving to a palletized discharge level;
FIG. 21 is a state diagram showing the completion of the positive stacking process of the section steel;
FIG. 22 is a state diagram of the grouping mechanism having completed the inverse code grouping task;
FIG. 23 is a state diagram of the device entering the reverse code process;
FIG. 24 is a state diagram of the loading bracket with the inverted section steel row placed on the electromagnetic chuck and the electromagnetic chuck electrically engaged;
FIG. 25 is a state diagram of the palletizing mechanism being swung while the electromagnetic chuck is turned over;
FIG. 26 is a view showing the state where the pressing arm is lowered to the positive code pressing level after the electromagnetic chuck is turned over;
FIG. 27 is a state diagram of the palletizing mechanism reaching the palletized load level;
FIG. 28 is a view showing the completion of the section bar code reversing process;
fig. 29 is a process flow diagram of the present invention.
Marked in the figure as:
1. the device comprises a conveying and marshalling mechanism, a stacking mechanism, a material pressing mechanism, a material loading and stacking mechanism and a material pressing mechanism, wherein the conveying and marshalling mechanism, the stacking mechanism, the material pressing mechanism and the material loading and stacking mechanism are respectively arranged on the conveying and marshalling mechanism;
1-1, a conveying chain assembly, 1-2, a conveying chain synchronous transmission shaft, 1-3, a conveying chain transmission motor reducer, 1-4, a grouping stop assembly, 1-5, a grouping bracket, 1-6, a grouping bracket driving cylinder, 1-7, a grouping bracket synchronous shaft, 1-8, a motor reducer assembly, 1-9, a grouping synchronous transmission shaft, 1-10, a grouping position encoder, 1-11, a spiral lifter, 1-12, a grouping stop, 1-13, a grouping stop cylinder, 1-14, a grouping fixed stop, 1-15, a grouping support, 1-16, a grouping slide shaft, 1-17 and a grouping stop seat;
2-1 parts of a stacking mechanism base, 2-2 parts of a driven rod piece, 2-3 parts of a stacking driving hydraulic cylinder, 2-4 parts of a driving rod piece, 2-5 parts of a main cross beam, 2-6 parts of a turnover electromagnetic chuck assembly, 2-7 parts of an electromagnetic chuck synchronous connecting shaft, 2-8 parts of a stacking position encoder, 2-9 parts of a stacking mechanism synchronous shaft, 2-10 parts of an electromagnetic chuck turnover motor speed reducer, 2-11 parts of a turnover driving sprocket, 2-12 parts of a turnover chain, 2-13 parts of a tensioning sprocket, 2-14 parts of a tensioning screw, 2-15 parts of a turnover driven sprocket, 2-16 parts of a magnetic tongue, 2-17 parts of an electromagnetic chuck body, 2-18 parts of an electromagnetic chuck support, 2-19 parts of an electromagnetic chuck position encoder;
3-1 parts of a pressing mechanism synchronizing shaft, 3-2 parts of a pressing arm, 3-3 parts of a pressing driving cylinder, 3-4 parts of a pressing guiding assembly, 3-5 parts of a pressing position encoder, 3-6 parts of a pressing mechanism support;
4-1, a base, 4-2, a feeding mechanism synchronous transmission shaft, 4-3, a stacking mechanism synchronous transmission shaft, 4-4, a feeding bracket, 4-5, a feeding mechanism guide assembly, 4-6, a stacking lifting table bracket, 4-7, a stacking driving hydraulic cylinder, 4-8, a feeding mechanism driving hydraulic cylinder, 4-9, a stacking lifting table guide assembly, 4-10, a feeding mechanism position encoder and 4-11, a stacking lifting table position encoder.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate, and thorough understanding of the inventive concepts and aspects of the invention by those skilled in the art.
The structure of the invention as shown in fig. 1 to 7 is a high-speed and full-automatic profile steel stacker crane. Comprises a conveying chain collecting frame, a grouping positioning (stop block) mechanism, a grouping trolley, a positive stacking mechanism, a negative stacking mechanism, a stacking lifting table and a stacking conveying roller way.
The specific analysis is as follows:
1. in order to overcome the defects of the prior art and realize the aims of improving the production efficiency and the automation of the stacking of the profile steel, the invention adopts the following technical scheme:
as shown in fig. 1, the profile steel stacker crane comprises a conveying and grouping mechanism 1, a stacking mechanism 2, a pressing mechanism 3 and a feeding and stacking mechanism 4;
as shown in fig. 2, the conveying and grouping mechanism 1 is provided with a conveying chain assembly 1-1 for collecting the steel in rows;
as shown in fig. 4, the stacking mechanism 2 and the material pressing mechanism 3 are arranged above the conveying and grouping mechanism 1 through a main beam 2-5 and a parallel four-bar mechanism;
the stacking mechanism 2 is provided with a turnover electromagnetic chuck assembly 2-6, and the bottom of the main beam 2-5 is connected with a plurality of turnover electromagnetic chuck assemblies 2-6 which are arranged at equal intervals through bolts;
as shown in fig. 6, the pressing mechanism 3 is provided with a pressing arm 3-2, and the pressing arm 3-2 moves up and down in a pressing mechanism support 3-6 through a pressing guide assembly 3-4;
as shown in fig. 7, each of the feeding and stacking mechanisms 4 includes a feeding mechanism and a stacking mechanism, and shares a base 4-1; the feeding mechanism is provided with a feeding bracket 4-4, and the feeding bracket 4-4 moves up and down on the base 4-1 through a feeding mechanism guide assembly 4-5; the stacking mechanism is provided with a stacking lifting table bracket 4-6, and the stacking lifting table bracket 4-6 moves up and down on the base 4-1 through a stacking lifting table guide assembly 4-9.
The conveying and marshalling mechanism 1 collects finished section steel into rows and carries out positive and negative code marshalling on the finished section steel, and after the marshalling is successful, the section steel rows are conveyed to a fixed stop block at the tail end of a conveying chain;
after the section steel is conveyed and grouped, the feeding and stacking mechanism 4 lifts the section steel onto a reversible electromagnetic chuck positioned on the stacking mechanism 2;
after the electromagnetic chuck attracts the section steel, the stacking mechanism 2 performs forward stacking and reverse stacking actions according to the set section steel stacking requirement, and finally stacks the section steel on a stacking table surface positioned on the feeding and stacking mechanism 4;
the pressing mechanism 3 ensures that the profile steel can be quickly released from the electromagnetic chuck and controls the posture of the profile steel in the falling process.
The section steel conveying and grouping mechanism 1 further comprises: a grouping bracket mechanism arranged on the conveying chain frame and a controllable position grouping stop block mechanism arranged on the chain frame.
The section steel conveying and grouping mechanism comprises: the device comprises a steel conveying chain mechanism, a grouping bracket mechanism, a controllable position grouping stop block mechanism and a control mechanism, wherein the steel conveying chain mechanism is collected into a row, the grouping bracket mechanism is arranged on a conveying chain frame, and the controllable position grouping stop block mechanism is arranged on the chain frame.
2. Fig. 2 is a schematic structural view of the conveying and grouping mechanism 1.
The conveying chain collecting frame of the conveying chain assembly 1-1 is provided with a conveying chain frame body, a driving chain wheel, a driven chain wheel, a tensioning chain wheel and a conveying chain. The conveying chain components 1-1 are arranged in parallel and equidistantly according to the length of the section steel and are fixed on the equipment foundation through the base of the collecting frame. Realizing the function of conveying the profile steel. The conveying chain, the driven chain wheel assembly, the tensioning chain wheel assembly and the main driving chain wheel assembly form a group of chain type conveying transmission mechanism.
A plurality of the conveyor chain assemblies 1-1 are connected through conveyor chain synchronous transmission shafts 1-2. The conveying chain synchronous transmission shaft 1-2 is connected with a driving sprocket transmission shaft in series, and is used for synchronously conveying each conveying chain component 1-1.
The conveying chain collecting frame of the conveying chain assembly 1-1 is provided with a conveying chain transmission motor reducer 1-3. The motor speed reducer drives the chain type conveying transmission mechanism to synchronously operate through the main transmission synchronous coupling.
A grouping bracket arm 1-5 is arranged on the conveying chain assembly 1-1, and each grouping bracket arm 1-5 is provided with a grouping bracket arm driving cylinder 1-6 for driving the grouping bracket arm to lift; each grouping bracket arm 1-5 is supported and fixed by a grouping bracket arm synchronizing shaft 1-7, so that the lifting synchronization of each grouping bracket arm is ensured.
The conveying chain assembly 1-1 is provided with a grouping stop block assembly 1-4, and the positioning of the section steel during the positive and negative grouping of the section steel can be set. The grouping block assemblies 1-4 are driven by motor reducer assemblies 1-8, the grouping synchronous transmission shafts 1-9 ensure that each grouping block assembly 1-4 synchronously moves blocks, and the grouping position encoder 1-10 detects the positions of the moving blocks (grouping blocks 1-12) and is controlled by the system.
The grouping bracket mechanisms are arranged on the conveying chain collecting frame through bearing blocks and synchronizing shafts, each grouping bracket is provided with a driving lifting cylinder, and the synchronous actions of the grouping brackets are kept under the action of the synchronizing shafts.
3. Fig. 3 is an elevational schematic view of the group block assembly 1-4.
Controllable position grouping stop mechanism:
the position-controllable marshalling stop block mechanism is connected to the conveying chain collecting frame through a bolt, and a screw lifter drives the stop block sliding shaft to do horizontal linear motion.
The grouping block assembly 1-4 is provided with a grouping support 1-15, a grouping slide shaft 1-16, a spiral lifter 1-11 and a grouping position encoder 1-10; the marshalling supports 1-15 are fixed on the chain frame through bolts;
the input end of the spiral lifter of the end head is provided with a rotary encoder for controlling the position of the grouping stop block by measuring the rotation number of the synchronous coupler.
The block device is fixed on the block slide shaft 1-16, and moves along with the horizontal adjustment of the block slide shaft 1-16 to achieve the material blocking position of the block setting, the block can move up and down on the block seat, the block device is driven by a cylinder arranged below, when the section steel reaches the specified block quantity, the block falls down under the action of the cylinder, and the section steel group successfully formed is moved out of the block position through the conveying chain to be conveyed to the stacking material loading position.
The grouping sliding shafts 1-16 move back and forth in the grouping supports 1-15 under the driving of the spiral lifters 1-11; the group position encoder 1-10 detects the real-time position of the group slide shaft 1-16.
The input end of each spiral lifter is connected with a synchronous coupling; the synchronous coupler is driven by a T-shaped motor speed reducer unit, and the lifting synchronization of each grouping bracket is ensured.
The position-controllable grouping stop block mechanism is connected to the conveying chain collecting frame through a bolt, and a screw lifter drives a stop block sliding shaft to do horizontal linear motion.
The end part of the grouping slide shaft 1-16 is fixedly provided with a grouping stop block seat 1-17, the grouping stop block seat 1-17 is provided with a grouping stop block 1-12 for up-down movement, and the grouping stop block is driven by a grouping stop block cylinder 1-13.
The structure ensures that the marshalling blocks 1-12 have the functions of horizontal movement driving and position control and lifting driving, and meets the technical requirements of rapidly controlling the material blocking position and the material passing in the section steel marshalling process.
The tail end of the conveying chain frame body is provided with fixed stop blocks 1-14, so that the section steel which is successfully grouped is positioned at the feeding position.
4. Fig. 4 is a schematic structural view of the palletizing mechanism.
The stacking mechanism with the turnover electromagnetic chuck is provided with a parallel four-bar mechanism, and the end head of the main beam is respectively provided with two rotatable lug shaft holes formed by rolling bearing seats. The stacking mechanism base is also provided with two rotatable lug shaft holes formed by the rolling bearing seats. The driving rod piece and the driven rod piece are connected with the main beam and the base to form a parallel four-bar mechanism, the base is horizontally fixed on the equipment foundation through foundation bolts, and a hydraulic cylinder for driving the mechanism to swing is arranged on the driving connecting rod.
Specifically:
the parallel four-bar mechanism consists of a stacking mechanism base 2-1, a driving rod piece 2-4, an end beam of a main beam 2-5 and a driven rod piece 2-2; two sets of parallel four-bar mechanisms support the main beam 2-5 and are arranged on the main beam 2-5.
The stacking mechanism base 2-1 is equivalent to a rack of a four-bar mechanism; the driving rod piece 2-4 and the driven rod piece 2-2 are equivalent to two rockers of a four-bar mechanism; the end beams of the main beams 2-5 correspond to the links of a four-bar mechanism.
Each set of parallel four-bar mechanism is provided with a stacking driving hydraulic cylinder 2-3. The piston rod of the stacking driving hydraulic cylinder 2-3 is hinged with the driving rod piece 2-4, so that the reciprocating swing of the stacking mechanism 2 along the conveying direction of the conveying chain assembly 1-1 is realized.
The stacking mechanisms 2 are connected through stacking mechanism synchronizing shafts 2-9; the stacking mechanism synchronizing shaft 2-9 is rigidly connected with the output shaft of the driving rod piece 2-4, and keeps the mechanical actions of the two sets of four-bar mechanisms synchronous; the output shaft of one driving rod piece 2-4 is provided with a stacking position encoder 2-8, and the swinging position of the stacking mechanism is detected in real time and controlled by the system.
One of the plurality of turnover electromagnetic chuck assemblies 2-6 is provided with an electromagnetic chuck turnover motor speed reducer 2-10; the electromagnetic chuck overturning motor speed reducer 2-10 drives all electromagnetic chuck bodies 2-17 to synchronously overturn through an electromagnetic chuck synchronous connecting shaft 2-7; the magnetic tongues 2-16 on the two sides can slide on the electromagnetic chuck body, and the holding posture of the section steel can be ensured after the section steel is electrified.
The two groups of parallel four-bar mechanisms enable the main beam to swing at a certain angle in the vertical plane, and the bottom surface of the main beam is always kept horizontal. A rigid synchronous connecting shaft is arranged on a rotating shaft connected with the driving rod piece and the base, so that the two groups of parallel four-bar mechanisms synchronously swing. The rotating shaft end is provided with a position encoder for detecting the rotating angle of the rotating shaft, so that the purpose of controlling the movement position of the main beam is achieved.
5. Fig. 5 is a schematic view of the structure of the belt drive flip electromagnetic chuck assembly.
Electromagnetic chuck mounting supports which are arranged in equal rows are arranged below the main beam of the stacking mechanism, and the supports are connected below the main beam through bolts. The rectangular electromagnetic chuck is supported on the support seat through trunnions arranged on the two side plates and can rotate 180 degrees.
Specifically:
the bottom of the main beam 2-5 is connected with a plurality of overturning electromagnetic chuck assemblies 2-6 which are arranged at equal intervals through bolts;
the turnover electromagnetic chuck assembly 2-6 is provided with a turnover driving sprocket 2-11, a turnover driven sprocket 2-15, a turnover chain 2-12 and a tensioning sprocket 2-13; the turnover driving sprocket 2-11, the turnover driven sprocket 2-15 and the turnover chain 2-12 form chain transmission.
The tension degree of the turnover chain 2-12 is adjusted through the tensioning screw rod 2-14;
the overturning electromagnetic chuck assembly 2-6 is provided with an electromagnetic chuck body 2-17; the two sides of the electromagnetic chuck body 2-17 are provided with rotating shafts, the rotating shafts are arranged on the electromagnetic chuck support 2-18 through bearing seats, and the rotating shafts are driven by the turnover driven sprocket 2-15 to do 180-degree reciprocating turnover motion.
An electromagnetic chuck position encoder 2-19 is arranged on the electromagnetic chuck assembly 2-6 at the outermost end, and the position of the electromagnetic chuck turned over is detected in real time and controlled by the system.
The electromagnetic chuck overturning motor speed reducer 2-10 is arranged on the support 2-18, and is transmitted to other electromagnetic chuck assemblies through the electromagnetic chuck synchronous connecting shaft 2-7 and can keep the electromagnetic chuck to synchronously overturn.
An electromagnetic chuck position encoder 2-19 is arranged on the electromagnetic chuck assembly 2-6 at the outermost end, and the position of the electromagnetic chuck turned over is detected in real time and controlled by the system.
The electromagnetic chuck is provided with a magnetic tongue sliding by self weight, and when the working surface of the electromagnetic chuck faces downwards, the electromagnetic chuck can keep the original state of the held section steel, so that the section steel is not turned over by suction. The electromagnetic overturning is driven by a group of chain transmission, a motor speed reducer arranged on the middle support drives a small chain wheel, and a large chain wheel arranged on the trunnion of the electromagnetic chuck is driven by the chain to realize the overturning of the electromagnetic chuck. The chain transmission is provided with a tensioning device. Each turnover electromagnetic chuck, the bracket and the chain transmission assembly can turn over the stacking electromagnetic chuck assembly.
Each independent turnover stacking electromagnetic chuck assembly is connected through a synchronous rotating shaft, and the turnover action synchronization of each electromagnetic chuck is guaranteed. The electromagnetic chuck group at the tail end is provided with a position encoder for detecting the rotation angle of the synchronous rotation shaft and controlling the overturning angle of the electromagnetic chuck.
6. Fig. 6 is a schematic structural view of the pressing mechanism 3.
Each stacking electromagnetic chuck assembly is provided with a set of pressing mechanism. The pressing arm moves up and down on the pressing base through the guide bearing assembly, a rack is arranged on the pressing arm, a synchronous mechanism for the movement of the pressing arm is formed by a gear assembly arranged on the pressing base, and the synchronous mechanisms of the pressing mechanisms are connected through a synchronous shaft to realize the synchronous up and down movement of the pressing arm.
Specifically:
the plurality of pressing mechanisms 3 are equidistantly arranged on the side surfaces of the main cross beams 2-5 through bolt connection; the synchronous shafts 3-1 of the material pressing mechanisms are arranged among all the material pressing mechanisms 3, so that synchronous actions of the material pressing mechanisms are ensured; the synchronous shaft 3-1 of the pressing mechanism is connected with the synchronous output shaft of the pressing mechanism in series, so that the synchronous action of the pressing arm 3-2 is ensured.
The pressing mechanism 3 is provided with a pressing mechanism support 3-6, a pressing arm 3-2 and a pressing guide component 3-4;
the material pressing mechanism support 3-6 is arranged on the side face of the stacking mechanism main beam 2-5 through bolts; and rack and gear synchronous mechanisms are arranged on the pressing arm 3-2 and the pressing mechanism support 3-6.
Each pressing mechanism 3 is provided with an independent pressing driving cylinder 3-3. The pressing arm 3-2 is moved up and down.
The synchronous output shaft of the pressing mechanism at the outer end is provided with a pressing position encoder 3-5, and the lifting position of the pressing arm 3-2 is detected in real time and controlled by a system.
The material pressing mechanism support 3-6 is arranged on the side face of the main beam 2-5 of the stacking mechanism through bolts; the material pressing arm 3-2 moves up and down in the material pressing mechanism support 3-6 through the material pressing guide assembly 3-4; a rack and gear synchronizing mechanism is arranged on the material pressing arm 3-2 and the support 3-6;
7. fig. 7 is a schematic structural view of the feeding and stacking mechanism 4.
The section steel is provided with a plurality of feeding and stacking mechanisms 4, and each feeding and stacking mechanism 4 comprises a feeding mechanism and a stacking mechanism and shares one base 4-1.
The feeding and stacking mechanisms 4 are equidistantly arranged below the stacking mechanism 2.
The function of the device is that the grouped section steel is sent to the working surface of the stacking electromagnetic chuck in a lifting mode. The section steel is positioned below the electromagnetic chuck when the section steel is in positive stacking, and positioned above the electromagnetic chuck when the section steel is in negative stacking. The stacking mechanism is mainly used for storing stacked steel stack bags, the stack bag surface is kept at a certain height in the stacking process, and the stack bags are quickly placed on the stack bag conveying mechanism to be moved out of the stacking station after being formed.
The feeding mechanism is provided with a feeding lifting arm, a guide bearing assembly, a synchronous gear, a rack assembly and a driving hydraulic cylinder.
The guide bearing assembly is arranged on the stacking base, the feeding lifting arm is driven by the hydraulic cylinder to move up and down in the stacking base, the gear for synchronous driving is arranged on the side face of the feeding lifting arm, so that the synchronous transmission shaft arranged on the gear rotates, and the synchronous connecting shafts are arranged on the rotating shafts of each set of mechanism to ensure the synchronous action of the feeding lifting arm. And an angle position encoder is arranged on the synchronous rotating shaft of the feeding mechanism at the end part, and the vertical displacement of the feeding lifting arm is controlled by detecting the rotation angle of the synchronous rotating shaft.
Specifically:
the feeding mechanism is provided with a feeding bracket 4-4, a feeding mechanism driving hydraulic cylinder 4-8 and a feeding mechanism guiding component 4-5;
the feeding bracket 4-4 is driven by a feeding mechanism driving hydraulic cylinder 4-8. The guide assembly 4-5 moves up and down on the base 4-1 through the feeding mechanism.
The feeding brackets 4-4 are provided with gear and rack synchronizing mechanisms, and the feeding mechanism synchronizing transmission shafts 4-2 are connected with output shafts of the feeding synchronizing mechanisms, so that the feeding brackets 4-4 synchronously act.
The synchronous output shaft of the feeding mechanism at the outer end is provided with a feeding mechanism position encoder 4-10, and the lifting position of the feeding bracket 4-4 is detected in real time and controlled by a system.
The stacking mechanism is provided with a stacking lifting table bracket 4-6; and moves up and down on the base 4-1 through the stacker crane guiding assembly 4-10. The stacking lifting platform bracket 4-6 is driven by a stacking driving hydraulic cylinder 4-7.
The stacking lifting platform bracket 4-6 is provided with a gear and rack synchronizing mechanism; the output shafts of the stacking lifting table synchronizing mechanisms are connected through the stacking mechanism synchronizing transmission shafts 4-3, so that the stacking lifting table brackets 4-6 synchronously act.
A synchronous output shaft of the end stacking lifting mechanism is provided with a stacking lifting table position encoder 4-11, and the lifting position of the stacking lifting table bracket 4-6 is detected in real time and controlled by a system.
The stacking mechanism is provided with a stacking lifting table, a guide bearing assembly, a synchronous gear, a rack assembly and a driving hydraulic cylinder. The guide bearing assembly is arranged on the stacking base, the stacking lifting table is driven by the hydraulic cylinder to move up and down in the stacking base, the rack arranged on the side surface of the stacking lifting table drives the synchronous transmission shaft arranged on the gear to rotate by the gear for synchronous driving, and the synchronous connecting shafts are arranged on the rotating shafts of each set of mechanism to ensure the synchronous action of the stacking lifting table. An angle position encoder is arranged on the synchronous rotating shaft of the stacking mechanism at the end part, and the lifting position of the stacking lifting table is controlled by detecting the rotating angle of the synchronous rotating shaft.
In order to achieve the same purpose as the technical scheme, the invention further provides the technical scheme of the full-automatic section steel automatic grouping method and the section steel automatic stacking method. For better understanding the working principle of the invention, fig. 8 to 15 describe the action states of the mechanisms of the automatic steel section grouping process flow, and fig. 16 to 28 describe the action states of the mechanisms of the automatic steel section stacking process flow.
Fig. 29 is a process flow diagram of the present invention.
8. The automatic marshalling process flow of the high-speed full-automatic section steel stacker crane is as follows:
1. as shown in fig. 8: the grouping stop blocks 1-12 are positioned at the stop positions set by the positive stacking, and the conveying chain 1-1 collects finished section steel to reach the number of section steel in the positive stacking grouping;
at the moment, when the mechanism is in a positive code grouping process, the grouping stop blocks 1-12 are positioned to a set position through the grouping slide shafts 1-16, the grouping stop blocks 1-12 are in a high-level material blocking state, and the section steel transmitted by the conveying chain is arranged on the conveying chain in a row;
2. as shown in fig. 9: the marshalling conditions are met, the marshalling brackets 1-5 ascend, and positive-code steel bars are separated;
namely: when the steel section row reaches the number of positive-code marshalling, the marshalling brackets 1-15 are lifted, and the positive-code marshalling steel section is positioned between the marshalling positioning stop block and the marshalling brackets;
3. as shown in fig. 10: the grouping stop blocks 1-12 fall down to be in a release position, and the section steel row to be grouped is conveyed to the stacking and feeding fixed stop blocks 1-14 through the conveying chain 1-1; simultaneously, the grouping stop blocks 1-12 move forward to the set reverse gear material level;
the grouping check blocks fall to be positioned at the discharging position, and meanwhile, the grouping sliding shafts 1-16 drive the grouping check blocks 1-12 to move to a blocking material level set by reverse coding; the positive-stacking grouped steel bar is moved out of the grouping working position through the conveying chain 1-1 and finally positioned at a fixed stop block of the stacking material loading position;
4. as shown in fig. 11: after the grouped steel bar passes through the grouping area, the grouping stop blocks 1-12 are lifted to be positioned at the reverse stacking stop positions, the grouping brackets 1-5 are dropped, the conveying chain collects the steel bar, and the well-organized steel bar reaches the feeding fixed stop block positions 1-14 to complete the positive stacking grouping procedure;
after the positive-code grouped steel bars are moved out of the grouped stop block positions, the grouped stop blocks 1-12 are lifted to be positioned at the stop positions, the grouped brackets 1-5 are lowered at the same time, and the grouped mechanism collects the steel bars, so that the mechanism is positioned in the reverse-code grouping process;
5. as shown in fig. 12: the marshalling mechanism enters an inverse code marshalling mode, and the collected section steel reaches an inverse code marshalling condition;
6. as shown in fig. 13: the grouping brackets 1-5 ascend to separate the inverted steel bars; the marshalling check blocks 1-12 fall down to be in a release position, and the marshalling check blocks 1-12 fall down and then move to a positive code material blocking setting position for preparing conditions for the next positive code marshalling;
when the section steel row reaches the number of the inverted code marshalling, the marshalling brackets 1-5 are lifted, and the inverted code marshalling section steel is positioned between the marshalling positioning stop block and the marshalling brackets;
7. as shown in fig. 14: the grouped inverted steel bar is conveyed to a feeding fixed stop block through a conveying chain;
the grouping check blocks 1-12 fall to be positioned at the discharging position, and meanwhile, the grouping sliding shafts 1-16 drive the grouping check blocks 1-12 to move to the blocking material level set by positive codes again; the inverted marshalling section steel row is moved out of the marshalling working position through the conveying chain and is finally positioned at a fixed stop block of the stacking material loading position;
8. as shown in fig. 15: after the steel bar with the reverse code grouping passes through the grouping stop block area, the grouping stop blocks 1-12 are lifted to the stop level, the grouping brackets 1-5 are lowered, and the grouping mechanism reenters the positive code grouping mode;
after the reverse-code grouped profile steel is discharged out of the grouped stop block position, the grouped stop block 1-12 is lifted to be positioned at a stop position, the grouped bracket 1-5 is lowered, the grouped mechanism collects the profile steel, and the mechanism returns to the forward-code grouping procedure again;
9. the system repeatedly circulates the technological process, and realizes the alternate proceeding of the positive code and negative code grouping actions of the section steel.
9. The automatic stacking process flow of the high-speed full-automatic profile steel stacker crane comprises the following steps of:
1. as shown in fig. 16: the steel bar to be just coded is positioned at a feeding material level to be charged, the stacking mechanism 2 is positioned at a just coded material level to be charged, and the pressing mechanism 3 is positioned at a just coded material level to be pressed; the feeding bracket 4-4 is at the zero position; the stacking lifting table frame 4-6 is positioned at an upper working position;
when the positive-stacking grouped steel is conveyed to a stacking material loading position fixing stop block through a conveying chain, the stacking mechanism is positioned at a positive-stacking material waiting position, the working surface of the electromagnetic chuck is downward, and the material pressing arm is positioned at a positive-stacking material pressing working position;
2. as shown in fig. 17: the feeding bracket 4-4 is lifted to lift the profile steel row below the working surface of the electromagnetic chuck assembly 2-6;
and the supporting arm of the feeding mechanism is lifted to a positive stacking feeding working position, and the grouped positive stacking section steel is lifted to the working surface of the electromagnetic chuck.
3. As shown in fig. 18: the electromagnetic chuck is powered on, the profile steel row is attracted on the electromagnetic chuck, and the feeding bracket 4-4 quickly returns to the zero position;
the electromagnetic chuck is electrified to be attracted, and the feeding bracket returns to the original zero position.
4. As shown in fig. 19: the stacking mechanism 2 is positively swung;
and the stacking mechanism for sucking the stacking section steel positively swings towards the stacking lifting table, so that the section steel positively stacking work is realized.
5. As shown in fig. 20: the stacking mechanism 2 moves to a stacking and discharging position, and the sucked profile steel row is positioned right above the stacking lifting table frame 4-6;
when the stacking mechanism 2 moves to a stacking and discharging position, the pressing mechanism acts downwards;
6. as shown in fig. 21: the material pressing mechanism 3 acts, meanwhile, the electromagnetic chuck 2-17 is released after power failure, the material pressing arm 3-2 discharges and places the section steel on the stacking lifting rack 4-6, and the section steel positive stacking process flow is completed;
namely: the electromagnetic chuck is powered off, and the section steel is placed on a stacking lifting table top with a certain height;
7. as shown in fig. 22: the stacking lifting table frames 4-6 descend at fixed intervals, so that a certain stacking surface height is ensured; the stacking mechanism 2 swings reversely to the reverse stacking waiting material level; in the swing process, the material pressing arm 3-2 rises to the reverse code material pressing position, and the electromagnetic chuck 2-17 (anticlockwise in the drawing) is turned 180 degrees, so that the working face is upward; the reversed code grouping task is completed by the grouping mechanism, and the section steel is lifted to the reversed code feeding level by the feeding bracket 4-4;
the stacking lifting table descends at fixed distance, so that the stacking surface is ensured to maintain the set stacking height, and the forward stacking function of the profile steel is completed;
after the work is finished, the stacking mechanism swings reversely and moves to a reverse stacking waiting setting position; in the moving process, the electromagnetic chuck rotates 180 degrees, the working face of the electromagnetic chuck faces upwards, and the pressing arm is lifted to a reverse code pressing working position; during this time, the loading arm has lifted the inverted profile steel set to the inverted loading level;
8. as shown in fig. 23: the stacking mechanism 2 reaches the reverse stacking waiting material level, and the equipment enters a reverse stacking working procedure state;
9. as shown in fig. 24: the feeding bracket 4-4 returns to the zero position rapidly, the inverted steel bar is placed on the electromagnetic chuck 2-17, and the electromagnetic chuck 2-17 is electrified and attracted;
when the stacking mechanism 2 moves to a reverse stacking waiting material level, the feeding bracket 4-4 quickly descends to a zero position, and the section steel is placed on the working surface of the electromagnetic chuck.
10. As shown in fig. 25: the stacking mechanism 2 swings forward, and meanwhile, the electromagnetic chucks 2-17 (clockwise in the drawing) turn over for 180 degrees;
the electromagnetic chuck is electrified to attract, the stacking mechanism swings forward, and in the action process of the stacking mechanism, the electromagnetic chuck rotates 180 degrees to turn the profile steel to the anti-stacking requirement.
11. As shown in fig. 26: after the electromagnetic chuck turns 180 degrees, the material pressing arm 3-2 descends to the positive code material pressing position;
after the electromagnetic chuck rotates, the material pressing mechanism 3 acts, and the material pressing arm 3-2 descends to a positive code material pressing position;
12. as shown in fig. 27: the palletizing mechanism 2 reaches the palletizing and discharging position;
13. as shown in fig. 28: the material pressing mechanism 3 acts, meanwhile, the electromagnetic chuck 2-17 is released after power failure, the material pressing arm 3-2 discharges and places the section steel on the stacking lifting rack 4-6, and the section steel reverse stacking process flow is completed;
when the stacking mechanism 2 moves to a stacking and discharging position, the pressing mechanism 3 acts downwards, and meanwhile, the electromagnetic chuck is powered off, so that the section steel is placed in the section steel row with good stacking, and the reverse stacking function of the section steel is completed.
14. The above is a working flow of positive and negative stacking of the section steel, the working flow is circulated to the set layer number, the stacking lifting table 4-6 is quickly lowered, the stack package is placed on the output device, the stack package is moved out of the stacking station, the stacking lifting table 4-6 is quickly raised to the upper working position, and the next round of stack package stacking working condition is entered.
The equipment circulates the process flow, when the stacking layer number reaches the set requirement, the stacking lifting table 4-6 is quickly lowered, the formed stack package is placed on the stack package output equipment, after the stack package is moved out of the stacking station, the stacking lifting table 4-6 is quickly raised to the set working position, and the equipment reenters the next stacking procedure.
By adopting the technical scheme, the automatic stacking of the section steel is realized; the mechanical-electrical-hydraulic integrated marshalling mode is adopted, so that the defects that the mechanical marshalling method of the section steel in the prior art is low in efficiency, needs on-site manual adjustment, is poor in universality and cannot be used for marshalling small section steel are overcome; the invention has the characteristics of quick and accurate marshalling, high efficiency and good universality, can realize the stacking of angle steel, H-shaped steel, channel steel, I-shaped steel, rail steel, square steel and other special-shaped steels by selecting the type, specification and length of the section steel on one piece of equipment, has the advantages of high movement speed, accurate positioning and small impact by adopting an electrohydraulic proportional control connecting rod type stacking mechanism, is very suitable for the high-speed stacking of small section steel, and can quickly separate the section steel from the stacking mechanism by adopting a unique material pressing design and ensure the position and the posture of the section steel in the blanking process. Is an innovative design of a profile steel stacking method and has wide market popularization value.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (1)
1. A conveying and marshalling mechanism of a profile steel stacker is provided with a conveying chain component (1-1); the conveying chain assembly (1-1) is provided with a conveying chain frame body, a driving chain wheel, a driven chain wheel, a tensioning chain wheel and a conveying chain;
the conveying chain assemblies (1-1) are connected through conveying chain synchronous transmission shafts (1-2);
the method is characterized in that:
the conveying and marshalling mechanism of the profile steel stacker crane further comprises: the grouping bracket mechanism is arranged on the conveying chain frame, and the position-controllable grouping stop block mechanism is arranged on the conveying chain frame;
the position-controllable marshalling stop block mechanism is connected to the conveying chain frame through a bolt;
a grouping bracket arm (1-5) is arranged on the conveying chain assembly (1-1), and each grouping bracket arm (1-5) is provided with a grouping bracket arm driving cylinder (1-6) for driving the grouping bracket arm to lift; each grouping bracket arm (1-5) is supported and fixed by a grouping bracket arm synchronizing shaft (1-7); under the action of the grouping bracket synchronizing shaft (1-7), the grouping bracket mechanism keeps the synchronous action of each grouping bracket (1-5);
the conveying chain assembly (1-1) is provided with a grouping stop assembly (1-4) which can set the positioning of the section steel during the positive and negative grouping of the section steel;
the grouping stop block assembly (1-4) is provided with a grouping support (1-15), a grouping sliding shaft (1-16), a spiral lifter (1-11) and a grouping position encoder (1-10); the grouping supports (1-15) are fixed on the conveying chain frame through bolts; the grouping sliding shafts (1-16) are driven by the spiral lifters (1-11) to move back and forth in the grouping supports (1-15); the grouping position encoder (1-10) detects the real-time position of the grouping sliding shafts (1-16);
the end part of the grouping sliding shaft (1-16) is fixed with a grouping stop block seat (1-17); the grouping stop block seats (1-17) are provided with grouping stop blocks (1-12) which move up and down;
the grouping stop block assemblies (1-4) are driven by the motor reducer assemblies (1-8), the grouping synchronous transmission shafts (1-9) ensure that the grouping stop block assemblies (1-4) synchronously move the grouping stop blocks, and the grouping position encoders (1-10) detect the positions of the grouping stop blocks (1-12) and are controlled by the system;
the input end of the spiral lifter (1-11) of the end is provided with a rotary encoder for controlling the position of the grouping stop block by measuring the rotation number of the synchronous coupler;
the grouping stop blocks (1-12) are fixed on the grouping slide shafts (1-16) and move along with horizontal adjustment of the grouping slide shafts (1-16) to reach a material blocking position set by grouping, and the grouping stop blocks (1-12) are driven by grouping stop block cylinders (1-13) arranged below to move up and down on grouping stop block seats (1-17); when the section steel reaches the designated grouping number, the grouping check blocks (1-12) fall under the action of the grouping check block cylinders (1-13), and the section steel groups which are successfully grouped are moved out of the grouping positions through the conveying chain and are sent to the stacking material loading positions;
a conveying chain transmission motor reducer (1-3) is arranged in the middle of the conveying chain assembly (1-1);
the tail end of the conveying chain frame body is provided with fixed stop blocks (1-14) so that the section steel which is successfully grouped is positioned at the feeding position.
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| CN110282440B (en) * | 2019-06-20 | 2021-07-20 | 中冶东方工程技术有限公司 | Profile steel stacking equipment and profile steel stacking method |
| CN110371605B (en) * | 2019-07-31 | 2021-01-29 | 中冶华天工程技术有限公司 | Automatic steel separating device for U/Z-shaped steel sheet piles and H-shaped steel |
| CN113981201B (en) * | 2021-10-28 | 2023-06-23 | 中冶南方工程技术有限公司 | Stacked steel plate conveying system and continuous heat treatment method for hot rolled plates |
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| CN104444388B (en) * | 2014-09-19 | 2016-06-08 | 安徽中杭集团有限公司 | A kind of steel angle profile stacking machine and palletizing method |
| CN105540269B (en) * | 2016-01-22 | 2018-09-04 | 马鞍山市双益机械制造有限公司 | The marshalling detent mechanism of full-automatic profile steel stacker |
| CN206900747U (en) * | 2017-04-07 | 2018-01-19 | 马鞍山市双益机械制造有限公司 | A kind of conveying of profile steel stacker, marshalling mechanism |
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