CN106892276B - Section steel stacker crane and automatic grouping and stacking method thereof - Google Patents

Section steel stacker crane and automatic grouping and stacking method thereof Download PDF

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Publication number
CN106892276B
CN106892276B CN201710224832.5A CN201710224832A CN106892276B CN 106892276 B CN106892276 B CN 106892276B CN 201710224832 A CN201710224832 A CN 201710224832A CN 106892276 B CN106892276 B CN 106892276B
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stacking
marshalling
feeding
section steel
electromagnetic chuck
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CN106892276A (en
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王飞
余斌
李建
疏斌
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Taier Heavy Industry Co Ltd
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Taier Heavy Industry Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/02Stacking of articles by adding to the top of the stack
    • B65G57/03Stacking of articles by adding to the top of the stack from above
    • B65G57/04Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • B65B35/50Stacking one article, or group of articles, upon another before packaging
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/02Stacking of articles by adding to the top of the stack
    • B65G57/16Stacking of articles of particular shape

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention discloses a section steel stacker crane, wherein a conveying and marshalling mechanism is provided with a conveying chain assembly; the stacking mechanism and the material pressing mechanism are arranged above the conveying and grouping mechanism through a main cross beam and a parallel four-bar linkage mechanism; the stacking mechanism is provided with a turnover electromagnetic chuck assembly; each feeding and stacking mechanism comprises a feeding mechanism and a stacking mechanism and shares a base; the feeding mechanism is provided with a feeding bracket; the stacking mechanism is provided with a stacking lifting platform bracket, and the stacking lifting platform bracket moves up and down on the base through a stacking lifting platform guide assembly. By adopting the technical scheme, the automatic steel section stacking machine is very suitable for high-speed stacking of small-sized sections, has the advantages of quick and accurate section steel marshalling, high efficiency, good universality, high movement speed, accurate positioning and small impact, and solves the technical requirements of the stacking process of various section steels and various specifications; the automatic stacking device has the advantages of being exquisite and novel in structure, accurate in movement position and quick in action frequency response, and is suitable for automatic stacking of small sectional materials with quick stacking frequency requirements and high stacking precision.

Description

Section steel stacker crane and automatic grouping and stacking method thereof
Technical Field
The invention belongs to the technical field of section steel packaging equipment, and particularly relates to a high-speed full-automatic section steel stacker crane. In addition, the invention also relates to an automatic marshalling and automatic stacking method of the equipment.
Background
The section steel stacker is stacking equipment for stacking cut-to-length and straightened section steel into bundles according to the designated stack section size.
The section steel stacker crane in the prior art is mostly and intensively applied to the field of large-specification section steel production, has the outstanding problems of high cost, slow working rhythm, narrow applicable product specification range, low stacking efficiency, unstable work, large occupied area and the like, and is difficult to popularize and apply in small-specification section steel type enterprises in production.
Along with the technical progress, the upgrading and the transformation of the rolling line by the section steel manufacturing enterprise realize the production of small H-shaped steel, channel steel, angle steel, C-shaped steel and section steel with other specifications on the same rolling line, and greatly save the investment cost.
However, the medium-sized steel mechanical marshalling method in the prior art has the defects of low efficiency, manual field adjustment and incapability of marshalling small-sized steel; in addition, no suitable stacking equipment capable of simultaneously covering automatic stacking work of the products is available in the production process of the section steel, and the universality is poor; the stacking of the small-sized steel generally adopts a manual stacking mode, and has the outstanding problems of low efficiency, high labor cost, severe working environment, more potential safety hazards and the like.
In recent years, with the improvement of labor cost, the expansion of production scale, the further standardization of environment and labor protection and the higher requirements of large customers on section steel packaging, section steel production enterprises urgently hope that a full-automatic high-speed section steel stacker replaces the current manual or semi-automatic stacking mode.
Disclosure of Invention
The invention provides a section steel stacking machine, and aims to improve the production efficiency and realize the automation of section steel stacking.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention discloses a section steel stacker crane which comprises a conveying and grouping mechanism, a stacking mechanism, a pressing mechanism, a feeding mechanism and a stacking mechanism, wherein the conveying and grouping mechanism is arranged on the stacking mechanism;
the conveying and marshalling mechanism is provided with a conveying chain assembly;
the stacking mechanism and the material pressing mechanism are arranged above the conveying and grouping mechanism through a main cross beam and a parallel four-bar linkage mechanism;
the stacking mechanism is provided with a plurality of overturning electromagnetic chuck assemblies, and the bottom of the main cross beam is connected with a plurality of overturning electromagnetic chuck assemblies which are arranged at equal intervals through bolts;
the swaging mechanism is provided with a swaging arm which moves up and down in a swaging mechanism support through a swaging guide component;
each feeding and stacking mechanism comprises a feeding mechanism and a stacking mechanism and shares one base; the feeding mechanism is provided with a feeding bracket, and the feeding bracket moves up and down on the base through a feeding mechanism guide assembly; the stacking mechanism is provided with a stacking lifting platform bracket, and the stacking lifting platform bracket moves up and down on the base through a stacking lifting platform guide 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 a conveying chain synchronous transmission shaft.
A conveying chain transmission motor speed reducer is arranged in the middle of the conveying chain component.
The conveying chain assembly is provided with marshalling support arms, and each marshalling support arm is provided with a marshalling support arm driving cylinder for driving the marshalling support arm to lift; each marshalling bracket is supported and fixed by a marshalling bracket synchronizing shaft.
The conveying chain assembly is provided with a grouping stop block assembly.
The marshalling stop assembly is provided with a marshalling support, a marshalling sliding shaft, a spiral elevator and a marshalling position encoder; the marshalling support is fixed on the chain frame through bolts; the marshalling sliding shaft moves back and forth in the marshalling support under the drive of the spiral elevator; the grouping position encoder detects the real-time position of the grouping sliding shaft.
The end part of the grouping sliding shaft is fixed with a grouping stop block seat, and a grouping stop block is arranged on the grouping stop block seat to move up and down 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 successfully grouped section steel rows are positioned at the feeding position.
The parallel four-bar linkage mechanism consists of a stacking mechanism base, a driving rod piece, an end beam of a main cross beam and a driven rod piece; and the two sets of parallel four-bar linkage mechanisms support the main cross beam and components arranged on the main cross beam.
Each set of the parallel four-bar linkage mechanism is provided with a stacking driving hydraulic cylinder.
The plurality of stacking mechanisms are connected through a stacking mechanism synchronizing shaft; the synchronous shaft of the stacking mechanism is rigidly connected with an output shaft positioned on the driving rod piece, and the mechanical action synchronization of the two sets of four-bar mechanisms is kept; and an output shaft of one of the driving rod pieces is provided with a stacking position encoder which detects the swinging position of the stacking mechanism in real time and is controlled by the system.
One of the turnover electromagnetic chuck assemblies is provided with an electromagnetic chuck turnover motor reducer; the electromagnetic chuck overturning motor reducer drives all electromagnetic chuck bodies to synchronously overturn through an electromagnetic chuck synchronous connecting shaft; the magnetic tongues on the two sides can slide on the electromagnetic chuck body, and the suction posture of the section steel can be ensured after the electromagnetic chuck body is electrified.
The overturning electromagnetic chuck assembly is provided with an overturning driving chain wheel, an overturning driven chain wheel, an overturning chain and a tensioning chain wheel; the tension degree of the turnover chain is adjusted through a tension screw rod;
the overturning electromagnetic chuck assembly is provided with an electromagnetic chuck body; the electromagnetic chuck is characterized in that rotating shafts are arranged on two sides of the electromagnetic chuck body, are arranged on the support through a bearing seat and are driven by the overturning driven sprocket to do 180-degree reciprocating overturning motion.
And an electromagnetic chuck position encoder is arranged on the electromagnetic chuck assembly at the outermost end, and the electromagnetic chuck is detected in real time and is controlled to turn over by the system.
The plurality of material pressing mechanisms are connected through bolts and are equidistantly mounted on the side surface of the main cross beam; a material pressing mechanism synchronizing shaft is arranged between all material pressing mechanism mechanisms to ensure the synchronous action of the material pressing mechanisms; the synchronous shaft of the material pressing mechanism is connected with the synchronous output shaft of the material pressing mechanism in series, so that the synchronous action of the material pressing arm is ensured.
The pressing mechanism support is arranged on the side surface of the main beam of the stacking mechanism through a bolt; and the swaging arm and the swaging mechanism support are provided with a rack and gear synchronizing mechanism.
Each pressing mechanism is provided with an independent pressing driving cylinder.
And a material pressing position encoder is arranged on the synchronous output shaft of the material pressing mechanism at the outer end, and the lifting position of the material pressing arm is detected in real time and controlled by the system.
The feeding bracket is driven by a feeding mechanism driving hydraulic cylinder.
The feeding brackets are provided with gear and rack synchronizing mechanisms, and are connected with output shafts of the feeding synchronizing mechanisms through synchronous transmission shafts of the feeding mechanisms, so that the feeding brackets act synchronously.
And a feeding mechanism position encoder is arranged on the synchronous output shaft of the feeding mechanism at the outer end, and the lifting position of the feeding bracket is detected in real time and controlled by the system.
The stacking lifting platform bracket is driven by a stacking driving hydraulic cylinder.
The stacking lifting platform bracket is provided with a gear and rack synchronizing mechanism; the synchronous transmission shaft of the stacking mechanism is connected with the output shaft of each stacking lifting platform synchronous mechanism, so that each stacking lifting platform bracket synchronously acts.
And a synchronous output shaft of the end stacking lifting mechanism is provided with a stacking lifting platform position encoder which detects in real time and controls the lifting position of a stacking lifting platform bracket by a system.
In order to achieve the same purpose as the technical scheme, the invention also provides the technical scheme of the automatic section steel grouping method and the automatic section steel stacking method of the high-speed full-automatic section steel stacker crane.
The automatic grouping process flow is as follows:
1. the marshalling stop block is positioned at a material blocking position set by a positive code, and the conveying chain collects finished section steel to reach the number of the section steel in the positive code marshalling;
2. when the marshalling condition is met, the marshalling bracket rises, and the positive-code steel bar is separated;
3. the marshalling stop dog falls down to be positioned at the release position, and the section steel row to be marshalled is conveyed to the stacking and feeding fixed stop dog through a conveying chain; meanwhile, the marshalling stop block moves forward to a set code reversal material blocking position;
4. after the marshalling section steel row passes through the marshalling area, the marshalling stop block is lifted to be positioned at the reverse code stop position, the marshalling bracket falls down, the conveying chain collects the section steel row, and the marshalled section steel row reaches the feeding fixed stop position to finish the positive code marshalling process;
5. the marshalling mechanism enters a code reversal marshalling mode and collects the section steel to achieve code reversal marshalling conditions;
6. raising grouped brackets and separating the inverted steel bars; the marshalling stop block falls down to be positioned at the release position, and the marshalling stop block falls down and then moves to a positive code stop material setting position to prepare conditions for the marshalling of the next positive code;
7. the marshalled inverted-code steel bar is conveyed to a feeding fixed stop block through a conveying chain;
8. after the inverted code marshalling section steel bar passes through the marshalling block area, the marshalling block rises and returns to the material blocking position, the marshalling bracket descends, and the marshalling mechanism enters a positive code marshalling mode again;
9. the system circulates the process, so that the normal code and reverse code grouping actions of the section steel are alternately carried out.
The automatic stacking process flow is as follows:
1. the steel bar row to be righted is positioned at a loading waiting material position, the stacking mechanism is positioned at a righting waiting material position, and the material pressing mechanism is positioned at a righting pressing material position; the feeding bracket is at a zero position; the stacking lifting rack is arranged at an upper working position;
2. lifting the feeding bracket to lift the profile steel row below the working surface of the electromagnetic chuck assembly;
3. the electromagnetic chuck is electrified, the section steel bar is sucked on the electromagnetic chuck, and the feeding bracket returns to the zero position quickly;
4. the stacking mechanism is in positive swing;
5. the stacking mechanism moves to a stacking and discharging position, and the sucked profile steel row is positioned right above the stacking lifting rack;
6. the pressing mechanism acts, the electromagnetic chuck loses power and releases, and the pressing arm discharges the section steel on the stacking lifting rack to complete the section steel code correcting process flow;
7. the stacking lifting rack descends at a fixed distance to ensure a certain stacking surface height; the stacking mechanism reversely swings to the reversed material waiting position; in the swinging process, the material pressing arm rises to the reversed code material pressing position, and the electromagnetic chuck is turned over by 180 degrees to enable the working surface to face upwards; after the marshalling mechanism finishes the code reversal marshalling task, the feeding bracket lifts the section steel to a code reversal feeding position;
8. when the stacking mechanism reaches the code reversal waiting material level, the equipment enters a code reversal working procedure state;
9. the feeding bracket quickly returns to the zero position, the inverted steel bar row is placed on the electromagnetic chuck, and the electromagnetic chuck is electrified and attracted;
10. the stacking mechanism is in a positive swing state, and meanwhile, the electromagnetic chuck rotates 180 degrees;
11. after the electromagnetic chuck is turned over for 180 degrees, the material pressing arm is lowered to a positive code pressure material position;
12. the stacking mechanism reaches a stacking and discharging position;
13. the pressing mechanism acts, the electromagnetic chuck loses power and releases, and the pressing arm discharges the section steel on the stacking lifting rack to complete the section steel code reversing process flow;
14. the steel stacking method includes the steps that a working process of forward stacking and reverse stacking of profile steel is performed, the working process is circulated to a set number of layers, the stacking lifting platform descends quickly, a stacking bag is placed on the output device, the stacking bag moves out of a stacking station, the stacking lifting platform ascends quickly to the upper working position, and the next stacking working condition of the stacking bag is achieved.
By adopting the technical scheme, the invention adopts an electromechanical liquid-gas integrated marshalling mode and an electro-hydraulic proportional control link type stacking mechanism, is very suitable for high-speed stacking of small-sized materials, and overcomes various defects in the prior art compared with the traditional positive and negative mechanisms, so that the invention has the characteristics of quick and accurate marshalling of the section steel, high efficiency and good universality, has the advantages of high movement speed, accurate positioning and small impact, and meets the technical requirements of a stacking process of the section steel with multiple varieties and multiple specifications; 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 requirement and high stacking precision; the requirements of grouping and stacking angle steel, H-shaped steel, channel steel, I-shaped steel, track steel, square steel and various special-shaped steels can be met by selecting the type, specification and length of the section steel on one device; the connecting rod type stacking mechanism with the function of turning over the electromagnetic chuck realizes the integration of a positive code mechanism and a negative code mechanism; the unique pressing design can quickly separate the section steel from the stacking mechanism and ensure the position posture of the section steel in the blanking process; the stacking method for the section steel is an innovative design of the stacking method for the section steel, improves the technical level of production process equipment of enterprises, reduces the operation cost, better controls the product quality, has remarkable economic benefit and has wide market popularization value.
Drawings
The contents of the drawings and the reference numbers 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 conveying and grouping mechanism of FIG. 1;
FIG. 3 is a side view of the conveying, grouping mechanism of FIG. 2;
FIG. 4 is a schematic illustration of the palletising mechanism of FIG. 1;
FIG. 5 is a schematic structural view of the 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 of the stacking mechanism displays the internal structure of the stacking mechanism;
fig. 8 to 15 are operation state diagrams of each mechanism of the automatic grouping process flow, wherein:
fig. 8 shows the marshalling block in the stop position set by the positive code;
FIG. 9 shows that the marshalling conditions are satisfied, the marshalling bracket is raised, and the positive-code steel row is separated;
FIG. 10 shows the consist stop in a let-down position;
FIG. 11 shows the marshalling block raised in the upset position;
FIG. 12 illustrates the marshalling organization entering an anti-code marshalling mode;
FIG. 13 shows the marshalling carriage raised to separate the inverted steel rows;
FIG. 14 shows the marshalled inverted yard steel bars being sent to the feeding fixed stop by the conveyor chain;
FIG. 15 shows the marshalling organization reentering the positive code marshalling mode;
fig. 16 to 28 are action state diagrams of each mechanism of the automatic forward and reverse stacking process flow of the stacking mechanism, wherein:
fig. 16 is a state diagram of the palletizing mechanism in a positive stacking waiting material position and the material pressing mechanism in a positive stacking material position;
FIG. 17 is a view showing a state where the loading tray is raised;
FIG. 18 is a diagram showing the state where the electromagnetic chuck is energized and the steel bar is attracted to the electromagnetic chuck;
FIG. 19 is a state diagram of the palletizer mechanism in a true pendulum position;
FIG. 20 is a state diagram of the palletizing mechanism moving to a palletizing discharge position;
FIG. 21 is a view showing the completion of the steel section straightening process;
FIG. 22 is a state diagram of the marshalling organization having completed an anti-code marshalling task;
FIG. 23 is a state diagram of the device entering the scrambling sequence;
FIG. 24 is a diagram showing a state that the inverted-code steel bar row is placed on the electromagnetic chuck by the feeding bracket, and the electromagnetic chuck is electrically attracted;
FIG. 25 is a state diagram of the palletizing mechanism in a position of swinging while the electromagnetic chuck is turning;
FIG. 26 is a view showing the pressing arm lowered to the normal pressing position after the electromagnetic chuck is turned over;
FIG. 27 is a state diagram of the palletizing mechanism reaching a palletizing discharge position;
FIG. 28 is a view showing the completion of the code reversing process of the section steel;
FIG. 29 is a process flow diagram of the present invention.
Labeled in the figure as:
1. a conveying and marshalling mechanism 2, a stacking mechanism 3, a material pressing mechanism 4 and a feeding and stacking mechanism;
1-1, a conveying chain component, 1-2, a conveying chain synchronous transmission shaft, 1-3, a conveying chain transmission motor speed reducer, 1-4, a grouping stop block component, 1-5, a grouping supporting arm, 1-6, a grouping supporting arm driving cylinder, 1-7, a grouping supporting arm synchronous shaft, 1-8, a motor speed reducer component, 1-9, a grouping synchronous transmission shaft, 1-10, a grouping position encoder, 1-11, a spiral elevator, 1-12, a grouping stop block, 1-13, a grouping stop block cylinder, 1-14, a grouping fixed stop block, 1-15, a grouping support, 1-16, a grouping sliding shaft, 1-17 and a grouping stop block seat;
2-1, a stacking mechanism base, 2-2, a driven rod piece, 2-3, a stacking driving hydraulic cylinder, 2-4, a driving rod piece, 2-5, a main cross beam, 2-6, a turnover electromagnetic chuck component, 2-7, an electromagnetic chuck synchronous connecting shaft, 2-8, a stacking position encoder, 2-9, a stacking mechanism synchronous shaft, 2-10, an electromagnetic chuck turnover motor reducer, 2-11, a turnover driving chain wheel, 2-12, a turnover chain, 2-13, a tensioning chain wheel, 2-14, a tensioning screw, 2-15, a turnover driven chain wheel, 2-16, a magnetic tongue, 2-17, an electromagnetic chuck body, 2-18, an electromagnetic chuck support, 2-19 and 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 guide component, 3-5 parts of a pressing position encoder, 3-6 parts of a pressing mechanism support;
4-1 parts of a base, 4-2 parts of a feeding mechanism synchronous transmission shaft, 4-3 parts of a stacking mechanism synchronous transmission shaft, 4-4 parts of a feeding bracket, 4-5 parts of a feeding mechanism guide assembly, 4-6 parts of a stacking lifting platform bracket, 4-7 parts of a stacking driving hydraulic cylinder, 4-8 parts of a feeding mechanism driving hydraulic cylinder, 4-9 parts of a stacking lifting platform guide assembly, 4-10 parts of a feeding mechanism position encoder, 4-11 parts of a stacking lifting platform position encoder.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The structure of the invention shown in figures 1 to 7 is a high-speed and full-automatic section steel stacker. Comprises a conveying chain collecting frame, a marshalling positioning (stop block) mechanism, a marshalling trolley, a positive code mechanism, a negative code mechanism, a stacking lifting platform and a stacking transfer roller way.
The specific analysis is as follows:
1. in order to overcome the defects of the prior art and achieve the invention aims of improving the production efficiency and the automation of section steel stacking, the invention adopts the technical scheme that:
as shown in fig. 1, the steel section stacker of the present invention includes 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 rows of section steel;
as shown in fig. 4, the palletizing mechanism 2 and the pressing mechanism 3 are arranged above the conveying and grouping mechanism 1 through main beams 2-5 and a parallel four-bar linkage mechanism;
the stacking mechanism 2 is provided with overturning electromagnetic chuck assemblies 2-6, and the bottoms of the main cross beams 2-5 are connected with a plurality of overturning 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 component 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 component 4-5; the stacking mechanism is provided with a stacking lifting platform bracket 4-6, and the stacking lifting platform bracket 4-6 moves up and down on the base 4-1 through a stacking lifting platform guide assembly 4-9.
The conveying and marshalling mechanism 1 collects finished section steel rows and carries out positive and negative code marshalling on the finished section steel rows, and the section steel rows are conveyed to the position of a fixed stop block at the tail end of a conveying chain after the marshalling is successful;
after the section steel is conveyed and marshalled, the feeding and stacking mechanism 4 lifts the section steel to the turnable electromagnetic chuck on the stacking mechanism 2;
after the electromagnetic chuck attracts and assembles the section steel, the stacking mechanism 2 carries out the positive and negative stacking action according to the set section steel stacking requirement, and finally stacks the section steel on a stacking table surface on the feeding and stacking mechanism 4;
the material pressing mechanism 3 ensures that the section steel can be quickly released from the electromagnetic chuck and controls the posture of the section steel in the falling process.
The section steel conveying and grouping mechanism 1 further comprises: the marshalling bracket mechanism is arranged on the conveying chain frame, and the marshalling stop mechanism is arranged on the chain frame and can control the position.
The section steel conveying and grouping mechanism comprises: the device comprises a conveying chain mechanism for collecting section steel in rows, a marshalling bracket mechanism arranged on a conveying chain frame and a marshalling stop block mechanism arranged at a controllable position on the chain frame.
2. Fig. 2 is a schematic configuration diagram of the conveying/grouping unit 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 assemblies 1-1 are arranged in parallel at equal intervals according to the length of the section steel and are fixed on the equipment foundation through a collecting frame base. And the function of conveying the profile steel is realized. 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 conveying chain assemblies 1-1 are connected through a conveying chain synchronous transmission shaft 1-2. The conveying chain synchronous transmission shaft 1-2 is connected with a driving chain wheel transmission shaft in series, and each conveying chain component 1-1 is used for synchronous conveying.
And a conveying chain transmission motor speed reducer 1-3 is arranged on the conveying chain collecting frame of the conveying chain assembly 1-1. The motor reducer drives the chain type conveying transmission mechanism to synchronously run through the main transmission synchronous coupler.
The conveying chain assembly 1-1 is provided with marshalling support arms 1-5, and each marshalling support arm 1-5 is provided with a marshalling support arm driving cylinder 1-6 for driving the marshalling support arm to lift; each marshalling bracket 1-5 is supported and fixed by a marshalling bracket synchronizing shaft 1-7, so that the lifting synchronization of each marshalling bracket is ensured.
The conveying chain assembly 1-1 is provided with a marshalling stop block assembly 1-4 which can be used for setting the positioning of the section steel during the positive and negative marshalling of the section steel. The marshalling stop block components 1-4 are driven by motor speed reducer components 1-8, marshalling synchronous transmission shafts 1-9 ensure that the marshalling stop block components 1-4 synchronously move the stop blocks, and marshalling position encoders 1-10 detect the positions of the moving stop blocks (the marshalling stop blocks 1-12) and are controlled by a system.
The marshalling bracket mechanism is arranged on the conveying chain collecting frame through a bearing seat and a synchronizing shaft, each marshalling bracket is provided with a driving lifting cylinder, and each marshalling bracket is kept to synchronously act under the action of the synchronizing shaft.
3. Figure 3 is a schematic elevational view of the marshalling block assembly 1-4.
Controllable position marshalling dog mechanism:
the position-controllable marshalling stop block mechanism is connected to the conveying chain collecting frame through a bolt, and a spiral elevator drives a stop block sliding shaft to move horizontally and linearly.
The marshalling stop block assembly 1-4 is provided with a marshalling support 1-15, a marshalling sliding shaft 1-16, a spiral elevator 1-11 and a marshalling position encoder 1-10; the marshalling support 1-15 is fixed on the chain frame through bolts;
and a rotary encoder for controlling the position of the marshalling stop block by measuring the number of rotation turns of the synchronous coupler is arranged at the input end of the spiral lifter at the end head.
The marshalling stop block device is fixed on the marshalling sliding shafts 1-16 and horizontally adjusted and moved along with the marshalling sliding shafts 1-16 to reach a material blocking position set by marshalling, the marshalling stop block can move up and down on the stop block seat and is driven by an air cylinder arranged below, when the section steel reaches a specified marshalling quantity, the marshalling stop block falls down under the action of the air cylinder, and the successfully marshalled section steel is moved out of the marshalling position through a conveying chain to be conveyed to a stacking material loading position.
The grouping sliding shafts 1 to 16 move back and forth in the grouping support 1 to 15 under the drive of the spiral lifters 1 to 11; the consist position encoders 1-10 detect the real-time position of the consist spools 1-16.
The input end of each spiral elevator is connected with a synchronous coupler; the synchronous coupling is driven by a T-shaped motor speed reducer set, so that the lifting synchronization of all the marshalling brackets is ensured.
The position-controllable marshalling stop block mechanism is connected to the conveying chain collecting frame through a bolt, and a spiral elevator drives a stop block sliding shaft to do horizontal linear motion.
The end part of the grouping sliding shaft 1-16 is fixed with a grouping block seat 1-17, and the grouping block seat 1-17 is provided with a grouping block 1-12 which moves up and down and is driven by a grouping block cylinder 1-13.
The marshalling stop blocks 1-12 have the functions of horizontal movement driving, position control and lifting driving by the structure, and the technical requirements of quickly controlling the material blocking position and passing in the process of steel marshalling are met.
The tail end of the conveying chain frame body is provided with fixed stoppers 1-14, so that the successfully grouped section steel rows are positioned at the feeding position.
4. Fig. 4 is a schematic structural view of the palletizing mechanism.
The stacking mechanism with the overturning electromagnetic chuck is provided with a parallel four-bar mechanism, and two rotatable trunnion holes formed by rolling bearing seats are respectively arranged at the end head of the main cross beam. The base of the stacking mechanism is also provided with two rotatable trunnion holes consisting of rolling bearing seats. The driving rod piece and the driven rod piece are connected with the main cross beam and the base to form a parallel four-bar mechanism, the base is horizontally fixed on an equipment foundation through foundation bolts, and a hydraulic cylinder for driving the mechanism to swing is arranged on the driving connecting bar.
Specifically, the method comprises the following steps:
the parallel four-bar linkage mechanism consists of a stacking mechanism base 2-1, a driving rod 2-4, an end beam of a main cross beam 2-5 and a driven rod 2-2; two sets of the parallel four-bar linkage mechanisms support the main cross beams 2-5 and components arranged on the main cross beams 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 rocking bars 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 the parallel four-bar linkage mechanism is provided with a stacking driving hydraulic cylinder 2-3. A piston rod of the stacking driving hydraulic cylinder 2-3 is hinged with the driving rod piece 2-4, so that the stacking mechanism 2 can swing back and forth along the conveying direction of the conveying chain component 1-1.
The plurality of stacking mechanisms 2 are connected through stacking mechanism synchronizing shafts 2-9; the synchronous shafts 2-9 of the stacking mechanism are rigidly connected with output shafts of the driving rod pieces 2-4, so that the mechanical actions of the two sets of four-bar mechanisms are kept synchronous; and an output shaft of one of the driving rod pieces 2-4 is provided with a stacking position encoder 2-8 which detects the swinging position of the stacking mechanism in real time and is controlled by the system.
One of the overturning electromagnetic chuck assemblies 2-6 is provided with an electromagnetic chuck overturning motor speed reducer 2-10; the electromagnetic chuck overturning motor speed reducer 2-10 drives all electromagnetic chuck bodies 2-17 to overturn synchronously 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 suction posture of the section steel can be ensured after the electromagnetic chuck body is electrified.
The two groups of parallel four-bar linkage mechanisms enable the main beam to swing in a certain angle in a 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 linkage mechanisms synchronously swing. A position encoder for detecting the rotation angle of the rotating shaft is arranged at one end of the rotating shaft, so that the aim of controlling the movement position of the main beam is fulfilled.
5. FIG. 5 is a schematic diagram of a belt driving device for inverting the electromagnetic chuck assembly.
Electromagnetic chuck installing supports which are arranged in an equal row are arranged below the main cross beam of the stacking mechanism, and the supports are connected below the main cross beam through bolts. The rectangular electromagnetic chuck is supported on the support through trunnions arranged on two side plates and can rotate for 180 degrees.
Specifically, the method comprises the following steps:
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;
the overturning electromagnetic chuck component 2-6 is provided with an overturning driving chain wheel 2-11, an overturning driven chain wheel 2-15, an overturning chain 2-12 and a tensioning chain wheel 2-13; the overturning driving chain wheels 2-11, the overturning driven chain wheels 2-15 and the overturning chains 2-12 form chain transmission.
The tension degree of the turnover chain 2-12 is adjusted through a tension screw 2-14;
the overturning electromagnetic chuck component 2-6 is provided with an electromagnetic chuck body 2-17; the electromagnetic chuck comprises electromagnetic chuck bodies 2-17, wherein rotating shafts are arranged on two sides of each electromagnetic chuck body 2-17, are arranged on electromagnetic chuck supports 2-18 through bearing seats, and do 180-degree reciprocating overturning motion under the driving of overturning driven sprockets 2-15.
And the electromagnetic chuck assembly 2-6 at the outermost end is provided with an electromagnetic chuck position encoder 2-19 for detecting in real time and controlling the overturning position of the electromagnetic chuck by a system.
The electromagnetic chuck overturning motor speed reducer 2-10 is installed 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 chucks overturning synchronously.
And the electromagnetic chuck assembly 2-6 at the outermost end is provided with an electromagnetic chuck position encoder 2-19 for detecting the position of the electromagnetic chuck in real time and controlling the overturning position of the electromagnetic chuck by a 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 original state of the section steel can be kept, so that the section steel is not sucked and turned over. The electromagnetic turnover is driven by a group of chain transmission, a motor reducer arranged on the middle bracket drives a small chain wheel, and the electromagnetic chuck is turned over by driving a large chain wheel arranged on an electromagnetic chuck trunnion through a chain. A tensioning device is arranged on the chain transmission. Each overturning electromagnetic chuck, the bracket and the chain transmission assembly can overturn the stacking electromagnetic chuck assembly.
Each independently turnable stacking electromagnetic chuck assembly is connected by a synchronous rotating shaft, and synchronous turning action of each electromagnetic chuck is guaranteed. And the electromagnetic chuck group positioned at the tail end is provided with a position encoder for detecting the rotation angle of the synchronous rotating 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 material pressing mechanism. The pressing arm moves up and down on the pressing base through the guide bearing assembly, the pressing arm is provided with a rack, a gear assembly arranged on the pressing base forms a synchronous mechanism for movement of the pressing arm, and the synchronous mechanisms of the pressing mechanisms are connected through a synchronous shaft, so that the synchronous movement of the pressing arm is realized.
Specifically, the method comprises the following steps:
the material pressing mechanisms 3 are connected through bolts and are equidistantly mounted on the side surfaces of the main cross beams 2-5; a material pressing mechanism synchronizing shaft 3-1 is arranged between all the material pressing mechanisms 3 to ensure the synchronous action of the material pressing mechanisms; the synchronous shaft 3-1 of the swaging mechanism is connected with the synchronous output shaft of the swaging mechanism in series, so that the swaging arms 3-2 can synchronously act.
The swaging mechanism 3 is provided with a swaging mechanism support 3-6, a swaging arm 3-2 and a swaging guide component 3-4;
the material pressing mechanism support 3-6 is arranged on the side surface of the main beam 2-5 of the stacking mechanism through a bolt; and rack and gear synchronizing mechanisms are arranged on the swaging arms 3-2 and the swaging mechanism supports 3-6.
Each material pressing mechanism 3 is provided with an independent material pressing driving cylinder 3-3. The swaging arm 3-2 is moved up and down.
And a material pressing position encoder 3-5 is arranged on the synchronous output shaft of the material pressing mechanism at the outer end, and the lifting position of the material pressing arm 3-2 is detected in real time and controlled by the system.
The pressing mechanism support 3-6 is arranged on the side surface of the stacking mechanism main beam 2-5 through a bolt; the pressing arm 3-2 moves up and down in the pressing mechanism support 3-6 through the pressing guide component 3-4; a rack and gear synchronizing mechanism is arranged on the swaging arm 3-2 and the support 3-6;
7. fig. 7 is a schematic structural diagram of the feeding and stacking mechanism 4.
The section steel is provided with a plurality of feeding and stacking mechanisms 4, each feeding and stacking mechanism 4 comprises a feeding mechanism and a stacking mechanism, and the feeding and stacking mechanisms share one base 4-1.
The feeding and stacking mechanisms 4 are arranged below the stacking mechanism 2 at equal intervals.
The function is to send the marshalled section steel to the working surface of the electromagnetic chuck for stacking in a lifting mode. When the structural steel is positively coded, the structural steel is positioned below the electromagnetic chuck, and when the structural steel is inversely coded, the structural steel is positioned above the electromagnetic chuck. The stacking mechanism is mainly used for storing stacked section steel stacks, the stack surface is kept at a certain height in the stacking process, and the stacks are quickly placed on the stack conveying mechanism and moved out of a 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 installed 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 which is installed on the side face of the feeding lifting arm and used for driving synchronization is driven by the rack to enable the synchronous transmission shaft installed on the gear to rotate, and the synchronous connecting shaft is arranged on the rotating shaft of each set of mechanism to guarantee 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 rotating angle of the synchronous rotating shaft.
Specifically, the method comprises the following steps:
the feeding mechanism is provided with a feeding bracket 4-4, a feeding mechanism driving hydraulic cylinder 4-8 and a feeding mechanism guide component 4-5;
the feeding bracket 4-4 is driven by a feeding mechanism driving hydraulic cylinder 4-8. The guide component 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 are connected with output shafts of all the feeding synchronizing mechanisms through synchronous transmission shafts 4-2 of the feeding mechanisms, so that all the feeding brackets 4-4 act synchronously.
And a feeding mechanism position encoder 4-10 is arranged on the synchronous output shaft of the feeding mechanism at the outer end, detects in real time and controls the lifting position of the feeding bracket 4-4 by a system.
The stacking mechanism is provided with stacking lifting platform brackets 4-6; and moves up and down on the base 4-1 through the stacking elevating platform guide assembly 4-10. The stacking lifting platform bracket 4-6 is driven by a stacking driving hydraulic cylinder 4-7.
The stacking lifting platform brackets 4-6 are provided with gear and rack synchronizing mechanisms; the synchronous transmission shafts 4-3 of the stacking mechanism are connected with the output shafts of the synchronous mechanisms of the stacking lifting platforms, so that the brackets 4-6 of the stacking lifting platforms synchronously act.
And a synchronous output shaft of the end stacking lifting mechanism is provided with a stacking lifting platform position encoder 4-11 which detects in real time and controls the lifting position of a stacking lifting platform bracket 4-6 by a system.
The stacking mechanism is provided with a stacking lifting platform, a guide bearing assembly, a synchronous gear, a rack assembly and a driving hydraulic cylinder. The stacking lifting platform is driven by a hydraulic cylinder to move up and down in the stacking base, a gear which is arranged on the side surface of the stacking lifting platform and is driven by a rack to synchronize drives a synchronous transmission shaft arranged on the gear to rotate, and a synchronous connecting shaft is arranged on a rotating shaft of each mechanism to ensure the synchronous action of the stacking lifting platform. The synchronous rotating shaft of the stacking mechanism at the end part is provided with an angle position encoder, and the lifting position of the stacking lifting platform 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 also provides the technical scheme of the full-automatic section steel automatic grouping method and the section steel automatic stacking method. In order to better understand the working principle of the invention, the action states of all mechanisms in the automatic steel section grouping process flow are described in the figures 8-15, and the action states of all mechanisms in the automatic steel section stacking process flow are described in the figures 16-28.
FIG. 29 is a process flow diagram of the present invention.
8. The automatic grouping process flow of the high-speed full-automatic section steel stacker crane comprises the following steps:
1. as shown in fig. 8: the marshalling stop block 1-12 is positioned at a material blocking position set by a positive code, and the conveying chain 1-1 collects the number of finished section steels reaching the positive code marshalling;
at the moment, when the mechanism is in a positive code marshalling procedure, the marshalling stop blocks 1-12 are positioned to a set position through the marshalling sliding shafts 1-16, the marshalling stop blocks 1-12 are in a high-position material blocking state, and the section steel transmitted by the conveying chain is arranged on the conveying chain in rows;
2. as shown in fig. 9: when the marshalling condition is met, the marshalling brackets 1-5 ascend to separate out the positive-code steel bar;
namely: when the section steel rows reach the number of positive code marshalling groups, the marshalling brackets 1-15 rise, and the positive code marshalling section steel is positioned between the marshalling positioning stop block and the marshalling brackets;
3. as shown in fig. 10: the marshalling stop blocks 1-12 fall down to be positioned at the discharge position, and the section steel rows to be marshalled are conveyed to the stacking and feeding fixed stop blocks 1-14 through the conveying chains 1-1; meanwhile, the marshalling stop blocks 1-12 move forwards to a set code reversal stop level;
the marshalling stop block falls to be positioned at a material placing position, and meanwhile, the marshalling slide shaft 1-16 drives the marshalling stop block 1-12 to move to a material blocking position set by code reversal; the positive code marshalling section steel row is moved out of a marshalling working position through a conveying chain 1-1 and finally positioned at a fixed stop block of a stacking loading position;
4. as shown in fig. 11: after the grouped section steel row passes through the grouping area, the grouping stop blocks 1-12 are lifted to be at the reverse code stop positions, the grouping brackets 1-5 fall down, the section steel row is collected by the conveying chains, and the grouped section steel row reaches the feeding fixed stop block positions 1-14 to complete the positive code grouping process;
after the positive code marshalling section steel row is moved out of the marshalling stop block position, the marshalling stop blocks 1-12 are lifted to be positioned at the stop block position, meanwhile, the marshalling bracket 1-5 is lowered, the marshalling mechanism collects the section steel, and the mechanism is positioned in a negative code marshalling procedure;
5. as shown in fig. 12: the marshalling mechanism enters a code reversal marshalling mode and collects the section steel to reach code reversal marshalling conditions;
6. as shown in fig. 13: raising the grouped brackets 1-5, and separating the inverted steel bars; the marshalling stop blocks 1-12 fall to be positioned at the release position, and the marshalling stop blocks 1-12 fall and then move to the positive code stop material setting position to prepare conditions for the marshalling of the next positive code;
when the section steel row reaches the number of the reversed code marshalling groups, the marshalling brackets 1-5 ascend, and the reversed code marshalling section steel is positioned between the marshalling positioning stop blocks and the marshalling brackets;
7. as shown in fig. 14: conveying the marshalled inverted code steel bar to a feeding fixed stop block through a conveying chain;
the marshalling stop block 1-12 falls to be positioned at a material placing position, and meanwhile, the marshalling slide shaft 1-16 drives the marshalling stop block 1-12 to move to a material stopping position set by a positive code again; the inverted code marshalling section steel bar is moved out of the marshalling working position through a conveying chain and finally positioned at a fixed stop block of the stacking loading position;
8. as shown in fig. 15: after the inverted code marshalling section steel bar passes through the marshalling block area, the marshalling blocks 1-12 rise and return to the material stop position, the marshalling brackets 1-5 fall, and the marshalling mechanism enters a positive code marshalling mode again;
after the inverted code marshalling section steel row is moved out of the marshalling stop block position, the marshalling stop blocks 1-12 are lifted to be at the stop position, meanwhile, the marshalling bracket 1-5 is lowered, the marshalling mechanism collects the section steel, and the mechanism returns to the positive code marshalling procedure again;
9. the system repeatedly circulates the technical process to realize the alternate operation of positive code and negative code grouping of the section steel.
9. The automatic stacking process flow of the high-speed full-automatic section steel stacker disclosed by the invention is as follows:
1. as shown in fig. 16: the steel bar row to be subjected to positive stacking is positioned at a feeding material waiting position, the stacking mechanism 2 is positioned at a positive stacking material waiting position, and the material pressing mechanism 3 is positioned at a positive stacking material pressing position; the feeding bracket 4-4 is at zero position; the stacking lifting rack 4-6 is positioned at an upper working position;
when the positive code marshalling section steel is conveyed to the stacking material loading position fixing stop block through the conveying chain, the stacking mechanism is at a positive code material waiting position, the working surface of the electromagnetic chuck is downward, and the material pressing arm is at a positive code material pressing working position;
2. as shown in fig. 17: the feeding bracket 4-4 is lifted, and the section steel row is lifted to the lower part of the working surface of the electromagnetic chuck assembly 2-6;
and the supporting arm of the feeding mechanism ascends to a positive-code feeding working position, and lifts the marshalled positive-code stacking section steel to the working surface of the electromagnetic chuck.
3. As shown in fig. 18: the electromagnetic chuck is electrified, the section steel bar is sucked on the electromagnetic chuck, and the feeding bracket 4-4 returns to the zero position quickly;
the electromagnetic chuck is electrified and closed, and the feeding bracket returns to the original zero position.
4. As shown in fig. 19: the stacking mechanism 2 is in positive swing;
the stacking mechanism of the attraction positive stacking type steel swings positively towards the stacking lifting table, and the forward stacking work of the section steel is realized.
5. As shown in fig. 20: the stacking mechanism 2 moves to a stacking and discharging position, and the sucked section steel row is positioned right above the stacking lifting rack 4-6;
when the stacking mechanism 2 moves to a stacking and discharging position, the material pressing mechanism moves downwards;
6. as shown in fig. 21: the swaging mechanism 3 acts, the electromagnetic chucks 2-17 lose power and release at the same time, the swaging arms 3-2 drop the section steel on the stacking lifting rack 4-6, and the section steel code correcting process flow is completed;
namely: when the electromagnetic chuck is powered off, the section steel is placed on a stacking lifting table top with a certain height;
7. as shown in fig. 22: 4-6 of the stacking lifting rack descend at a fixed distance to ensure a certain stacking surface height; the stacking mechanism 2 reversely swings to the reversed material waiting position; in the swinging process, the material pressing arm 3-2 rises to the reversed code material pressing position, the electromagnetic chuck 2-17 (anticlockwise in the figure) turns over for 180 degrees, and the working surface faces upwards; the marshalling mechanism finishes the code-reversal marshalling task, and the feeding bracket 4-4 lifts the section steel to a code-reversal feeding position;
the stacking lifting table descends at a fixed distance, the stacking surface is guaranteed to maintain the set stacking height, and the forward stacking function of the section steel is completed;
after the work is finished, the stacking mechanism reversely swings and moves to a reverse stacking material waiting setting position; in the movement process, the electromagnetic chuck rotates 180 degrees, the working surface of the electromagnetic chuck faces upwards, and the material pressing arm rises to an inverted material pressing working position; during this time, the loading arm has lifted the inverted section steel group to the inverted loading position;
8. as shown in fig. 23: when the stacking mechanism 2 reaches the code reversal waiting material level, the equipment enters a code reversal working procedure state;
9. as shown in fig. 24: the feeding bracket 4-4 returns to the zero position quickly, the inverted steel bar row is placed on the electromagnetic chucks 2-17, and the electromagnetic chucks 2-17 are electrified to be attracted;
when the stacking mechanism 2 moves to the reverse stacking material waiting position, the feeding bracket 4-4 quickly descends to the 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 is in a positive swing mode, and meanwhile the electromagnetic chucks 2-17 (clockwise in the drawing) turn over for 180 degrees;
the electromagnetic chuck is electrified to be attracted, the stacking mechanism is arranged in a positive swinging mode, and the electromagnetic chuck rotates 180 degrees in the action process of the stacking mechanism to overturn the section steel to meet the requirement of code reversal.
11. As shown in fig. 26: after the electromagnetic chuck is turned over for 180 degrees, the material pressing arm 3-2 descends to a positive code material pressing position;
after the electromagnetic chuck finishes rotating, the swaging mechanism 3 acts, and the swaging arm 3-2 descends to a positive swaging position;
12. as shown in fig. 27: the stacking mechanism 2 reaches a stacking and discharging position;
13. as shown in fig. 28: the swaging mechanism 3 acts, the electromagnetic chucks 2-17 lose power and release at the same time, the swaging arms 3-2 drop the section steel on the stacking lifting rack 4-6, and the section steel code reversal process flow is completed;
when the stacking mechanism 2 moves to the stacking and material placing position, the material pressing mechanism 3 moves downwards, meanwhile, the electromagnetic chuck loses power, the profile steel is placed in the profile steel row which is well in the positive stacking mode, and the reverse stacking function of the profile steel is completed.
14. The method is characterized in that a working process of forward and backward stacking of the section steel is performed, the working process is circulated to a set number of layers, the stacking lifting table 4-6 descends quickly, the stack is placed on the output device, the stack is moved out of the stacking station, the stacking lifting table 4-6 ascends quickly to the upper working position and enters the stacking working condition of the stack of the next round.
The equipment circulates the process flow, when the stacking layer number reaches the set requirement, the stacking lifting table 4-6 descends rapidly, the formed stack is placed on stack output equipment, after the stack moves out of the stacking station, the stacking lifting table 4-6 ascends rapidly to the set working position, and the equipment enters the next stacking procedure again.
By adopting the technical scheme, the automatic stacking of the profile steel is realized; by adopting an electromechanical liquid integrated marshalling mode, the defects of low efficiency, manual adjustment on site, poor universality and incapability of marshalling small steel in the steel mechanical marshalling method in the prior art are overcome; the stacking mechanism has the characteristics of quick and accurate marshalling, high efficiency and good universality, can stack angle steel, H-shaped steel, channel steel, I-shaped steel, rail steel, square steel and other special-shaped steel on one device by selecting the type, specification and length of the section steel, has the advantages of high movement speed, accurate positioning and small impact by adopting the electro-hydraulic proportional control connecting rod type stacking mechanism, is very suitable for high-speed stacking of small-sized materials, and can quickly separate the section steel from the stacking mechanism and ensure the position posture of the section steel in the blanking process by unique material pressing design. The method is an innovative design of a section steel stacking method and has wide market popularization value.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims (3)

1. The section 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);
the conveying and grouping mechanism (1) is provided with a conveying chain component (1-1);
the stacking mechanism (2) and the pressing mechanism (3) are arranged above the conveying and marshalling mechanism (1) through a main beam (2-5) and a parallel four-bar linkage mechanism;
the stacking mechanism (2) is provided with overturning electromagnetic chuck assemblies (2-6), and 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 pressing mechanism (3) is provided with a pressing arm (3-2), and the pressing arm (3-2) moves up and down in the pressing mechanism support (3-6) through a pressing guide component (3-4);
each feeding and stacking mechanism (4) comprises 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 component (4-5); the stacking mechanism is provided with a stacking lifting platform bracket (4-6), and the stacking lifting platform bracket (4-6) moves up and down on the base (4-1) through a stacking lifting platform guide assembly (4-9);
the conveying chain assembly (1-1) is provided with a conveying chain rack body, a driving chain wheel, a driven chain wheel, a tensioning chain wheel and a conveying chain;
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 cross beam (2-5) and a driven rod piece (2-2); two sets of the parallel four-bar linkage mechanisms support the main cross beams (2-5) and components arranged on the main cross beams (2-5);
the pressing mechanisms (3) are connected through bolts and are equidistantly mounted on the side surfaces of the main cross beams (2-5); a pressing mechanism synchronizing shaft (3-1) is arranged between all the pressing mechanisms (3) to ensure the synchronous action of the pressing mechanisms; the synchronous shaft (3-1) of the swaging mechanism is connected with the synchronous output shaft of the swaging mechanism in series, so that the swaging arms (3-2) can synchronously act;
the feeding brackets (4-4) are provided with gear and rack synchronous mechanisms, and are connected with output shafts of all the feeding synchronous mechanisms through synchronous transmission shafts (4-2) of the feeding mechanisms, so that all the feeding brackets (4-4) synchronously act;
a plurality of the conveying chain components (1-1) are connected through a conveying chain synchronous transmission shaft (1-2);
a conveying chain transmission motor speed reducer (1-3) is arranged in the middle of the conveying chain component (1-1);
the conveying chain assembly (1-1) is provided with marshalling support arms (1-5), and each marshalling support arm (1-5) is provided with a marshalling support arm driving cylinder (1-6) for driving the marshalling support arm to lift; each marshalling bracket arm (1-5) is supported and fixed by a marshalling bracket arm synchronous shaft (1-7);
a marshalling stop block component (1-4) is arranged on the conveying chain component (1-1);
the marshalling stop block assembly (1-4) is provided with a marshalling support (1-15), a marshalling sliding shaft (1-16), a spiral elevator (1-11) and a marshalling position encoder (1-10); the marshalling support (1-15) is fixed on the chain frame through bolts;
the grouping sliding shaft (1-16) moves back and forth in the grouping support (1-15) under the drive of the spiral elevator (1-11); the marshalling position encoder (1-10) detects the real-time position of the marshalling sliding shaft (1-16);
the end part of the grouping sliding shaft (1-16) is fixed with a grouping block seat (1-17), and a grouping block (1-12) which moves up and down is arranged on the grouping block seat (1-17) and is driven by a grouping block cylinder (1-13);
the tail end of the conveying chain rack body is provided with a fixed stop block (1-14) to position the successfully grouped section steel rows at a feeding position;
each set of the parallel four-bar linkage mechanism is provided with a stacking driving hydraulic cylinder (2-3);
the plurality of stacking mechanisms are connected through stacking mechanism synchronizing shafts (2-9); the synchronous shafts (2-9) of the stacking mechanism are rigidly connected with output shafts positioned on the driving rods (2-4) to keep the mechanical actions of the two sets of four-bar mechanisms synchronous; a stacking position encoder (2-8) is arranged on an output shaft of one of the driving rods (2-4), and the position of the swinging of the stacking mechanism is detected in real time and controlled by a system;
one of the overturning electromagnetic chuck assemblies (2-6) is provided with an electromagnetic chuck overturning motor reducer (2-10); the electromagnetic chuck overturning motor speed reducer (2-10) drives all electromagnetic chuck bodies (2-17) to overturn synchronously 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 suction posture of the section steel can be ensured after the electromagnetic chuck body is electrified;
the overturning electromagnetic chuck assembly (2-6) is provided with an overturning driving chain wheel (2-11), an overturning driven chain wheel (2-15), an overturning chain (2-12) and a tensioning chain wheel (2-13); the tension degree of the turnover chain (2-12) is adjusted through a 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 electromagnetic chuck body is driven by the overturning driven chain wheel (2-15) to do 180-degree reciprocating overturning 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 for overturning is detected in real time and controlled by the system;
the material pressing mechanism support (3-6) is arranged on the side surface of the stacking mechanism main beam (2-5) through a bolt; a rack and gear synchronous mechanism is arranged on the swaging arm (3-2) and the swaging mechanism support (3-6);
each material pressing mechanism (3) is provided with an independent material pressing driving cylinder (3-3);
a material pressing position encoder (3-5) is arranged on the synchronous output shaft of the material pressing mechanism at the outer end, and the lifting position of the material pressing arm (3-2) is detected in real time and controlled by the system;
the feeding bracket (4-4) is driven by a feeding mechanism driving hydraulic cylinder (4-8);
a feeding mechanism position encoder (4-10) is arranged on the synchronous output shaft of the feeding mechanism at the outer end, and the lifting position of the feeding bracket (4-4) is detected in real time and controlled by the system;
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 stacking mechanism synchronous transmission shaft (4-3) is connected with the output shaft of each stacking lifting platform synchronous mechanism, so that each stacking lifting platform bracket (4-6) synchronously acts;
and a synchronous output shaft of the end stacking lifting mechanism is provided with a stacking lifting platform position encoder (4-11), and the lifting position of a stacking lifting platform bracket (4-6) is detected in real time and controlled by a system.
2. The automatic grouping method adopted by the section steel stacker according to claim 1 is characterized in that the automatic grouping process flow is as follows:
1) The marshalling stop block (1-12) is located at a material blocking position set by positive codes, and the conveying chain (1-1) collects the number of finished section steels reaching the positive code marshalling section steel number;
2) When the marshalling condition is met, the marshalling bracket (1-5) rises to separate the positive-code steel bar;
3) The marshalling stop dog (1-12) falls down to be positioned at a release position, and the section steel row to be marshalled is conveyed to the stacking and feeding fixed stop dog (1-14) through the conveying chain (1-1); meanwhile, the marshalling stop block (1-12) is moved forward to a set code reversal stop level;
4) After the grouped section steel rows pass through the grouping area, the grouping stop block (1-12) is lifted to be at the reverse code stop position, the grouping bracket (1-5) falls, the conveying chain collects the section steel rows, and the grouped section steel rows reach the feeding fixed stop block position (1-14) to finish the positive code grouping process;
5) The marshalling mechanism enters a code reversal marshalling mode and collects the section steel to achieve code reversal marshalling conditions;
6) The marshalling bracket (1-5) ascends to separate the inverted code steel bar; the marshalling stop blocks (1-12) fall to be positioned at the release position, and the marshalling stop blocks (1-12) fall and then move to the positive code stop material setting position to prepare conditions for the marshalling of the next positive code;
7) The marshalled inverted-code section steel bar is conveyed to a feeding fixed stop block through a conveying chain;
8) After the inverted code marshalling section steel bar passes through the marshalling block area, the marshalling blocks (1-12) rise and return to the material blocking position, the marshalling brackets (1-5) descend, and the marshalling mechanism enters a positive code marshalling mode again;
9) And systematically circulating the technical process to make the positive code and negative code grouping action of the section steel alternately performed.
3. The automatic stacking method adopted by the section steel stacker according to claim 1 is characterized in that the automatic stacking process flow is as follows:
1) the steel bar row to be righted is positioned at a loading material waiting position, the stacking mechanism (2) is positioned at a righting material waiting position, and the pressing mechanism (3) is positioned at a righting code pressing position; the feeding bracket (4-4) is at zero position; the stacking lifting rack (4-6) is positioned at an upper working position;
2) The feeding bracket (4-4) is lifted, and the section steel row is lifted to the lower part of the working surface of the electromagnetic chuck assembly (2-6);
3) The electromagnetic chuck is electrified, the section steel bar is sucked on the electromagnetic chuck, and the feeding bracket (4-4) returns to the zero position quickly;
4) The stacking mechanism (2) is in positive swing;
5) The stacking mechanism (2) moves to a stacking and discharging position, and the sucked section steel row is positioned right above the stacking lifting rack (4-6);
6) The pressing mechanism (3) acts, the electromagnetic chucks (2-17) lose power and release at the same time, and the pressing arm (3-2) discharges the section steel to be placed on the stacking lifting rack (4-6) to finish the section steel code correcting process flow;
7) The stacking lifting rack (4-6) descends at a fixed distance to ensure a certain stacking surface height; the stacking mechanism (2) reversely swings to the reversed material waiting position; in the swinging process, the material pressing arm (3-2) rises to the reversed code material pressing position, the electromagnetic chuck (2-17) is turned over by 180 degrees, and the working surface is upward; after the marshalling mechanism finishes the code-reversing marshalling task, the feeding bracket (4-4) lifts the section steel to the code-reversing feeding position;
8) When the stacking mechanism (2) reaches the code reversal waiting material level, the equipment enters a code reversal process state;
9) The feeding bracket (4-4) returns to the zero position quickly, the inverted steel bar is placed on the electromagnetic chuck (2-17), and the electromagnetic chuck (2-17) is electrified to be attracted;
10 The stacking mechanism (2) is in a positive swing state, and meanwhile, the electromagnetic suction disc (2-17) turns for 180 degrees to act;
11 After the electromagnetic chuck is turned over for 180 degrees, the material pressing arm (3-2) descends to a positive code material pressing position;
12 The stacking mechanism (2) reaches a stacking and discharging position;
13 The pressing mechanism (3) acts, the electromagnetic chucks (2-17) lose power and release at the same time, and the pressing arm (3-2) discharges the section steel to be placed on the stacking lifting rack (4-6) to complete the section steel code reversing process flow;
14 And the steel stacking lifting platform (4-6) quickly descends, the stack package is placed on the output device, the stack package is moved out of the stacking station, and the stack lifting platform (4-6) quickly ascends to the upper working position to enter the stacking working condition of the next stack package.
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CN109160283A (en) * 2018-11-15 2019-01-08 马钢集团设计研究院有限责任公司 A kind of profile steel stacker magnechuck elevating mechanism and its control method
CN109808947B (en) * 2019-04-04 2024-05-14 长江润发(张家港)机械有限公司 Elevator guide rail packing apparatus
CN110466994A (en) * 2019-08-27 2019-11-19 广州广源激光科技有限公司 Feeding output precision
CN111439416B (en) * 2020-05-07 2024-01-12 唐山正丰钢铁有限公司 Angle steel collecting system and collecting method thereof
CN112660837B (en) * 2020-11-30 2022-04-22 中冶华天工程技术有限公司 Guide rail steel finishing process
CN112850173B (en) * 2021-01-21 2022-04-08 昆山瑞源智能装备有限公司 Material collecting device of three-material collecting stacker
CN114261559B (en) * 2021-11-17 2022-09-20 无锡瑞进智能工程有限公司 Section steel bundling equipment and using method thereof
CN114604567A (en) * 2022-03-16 2022-06-10 福州弘泰冶金技术开发有限公司 Profiled steel servo stacking equipment and working method thereof

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