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

Abstract

The invention discloses a section steel palletizer, wherein the conveying and marshalling mechanism is provided with a conveying chain assembly; Equipped with flipping electromagnetic sucker components; each feeding and stacking mechanism includes a feeding mechanism and a stacking mechanism, and share a base; the feeding mechanism is equipped with a feeding bracket; the stacking mechanism is equipped with a stacking lifting platform support frame, and the stacking lift bracket moves up and down on the base through the stacking lift guide assembly. Adopting the above-mentioned technical scheme, it is very suitable for high-speed palletizing of small profiles, and has the advantages of fast and accurate section steel marshalling, high efficiency, good versatility, fast movement speed, accurate positioning and small impact, and solves the technical requirements of multi-variety and multi-standard section steel palletizing; It has the advantages of exquisite and novel structure, precise movement position, and fast action frequency response. It is suitable for automatic palletizing of small materials that require fast palletizing frequency and high palletizing precision.

Description

A kind of section steel palletizer and its automatic marshalling and automatic palletizing method

technical field

The invention belongs to the technical field of section steel packaging equipment, in particular to a high-speed, fully automatic section steel palletizer. In addition, the present invention also relates to the automatic grouping and automatic palletizing methods of the equipment.

Background technique

The section steel palletizer is a palletizing equipment used for stacking cut-to-length and straightened section steel into bundles according to the specified section size of the stack.

The section steel palletizers in the prior art are mostly used in the field of large-scale section steel production, which have the disadvantages of high cost, slow work rhythm, narrow range of applicable product specifications, low stacking efficiency, unstable work, and large floor space. The problem is that it is difficult to popularize and apply it in the production of medium and small-sized steel type enterprises.

With the advancement of technology, section steel manufacturers have upgraded their rolling lines to realize the production of small H-section steel, channel steel, angle steel, C-section steel and other specifications of section steel on the same rolling line, which greatly saves investment costs.

However, the mechanical grouping method of medium-shaped steel in the prior art has the defects of low efficiency, manual adjustment on site and inability to group small steel; moreover, there is no suitable palletizing equipment in the above-mentioned steel production process that can cover the automatic palletizing work of the above-mentioned products at the same time , poor versatility; manual palletizing is generally used in the palletizing of small steel, which has prominent problems such as low efficiency, high labor costs, harsh working environment and many hidden dangers in production safety.

In recent years, with the increase of labor costs, the expansion of production scale and the further standardization of the environment and labor protection, and some large customers have put forward higher requirements for steel packaging, steel production enterprises are eager to have full-automatic high-speed steel palletizers to replace the current manual Or semi-automatic palletizing.

Contents of the invention

The invention provides a section steel palletizer, the purpose of which is to improve production efficiency and realize the automation of section steel stacking.

In order to achieve the above object, the technical scheme that the present invention takes is:

A section steel palletizer of the present invention includes a conveying and marshalling mechanism, a palletizing mechanism, a pressing mechanism, and a feeding and stacking mechanism;

The conveying and marshalling mechanism is provided with a conveying chain assembly;

The stacking mechanism and the pressing mechanism are arranged above the conveying and marshalling mechanism through the main beam and the parallel four-bar linkage mechanism;

The palletizing mechanism is provided with an overturning electromagnetic chuck assembly, and the bottom of the main beam is connected by bolts to equidistantly arranged multiple overturning electromagnetic chuck assemblies;

The pressing mechanism is provided with a pressing arm, and the pressing arm moves up and down in the support of the pressing mechanism through the pressing guide assembly;

Each of said feeding and stacking mechanisms includes a feeding mechanism and a stacking mechanism, and shares a base; said feeding mechanism is provided with a feeding bracket, and said feeding bracket passes through the feeding mechanism The guiding assembly moves up and down on the base; 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 the stacking lifting platform guiding component.

The conveyor chain assembly includes a conveyor chain frame body, a driving sprocket, a driven sprocket, a tensioning sprocket and a conveyor chain.

A plurality of the conveyor chain components are connected through a conveyor chain synchronous transmission shaft.

A conveyor chain transmission motor reducer is arranged in the middle of the conveyor chain assembly.

A marshalling support arm is arranged on the conveying chain assembly, and each marshalling support arm is provided with a marshalling support arm driving cylinder to drive its lifting; each marshalling support arm is supported and fixed by a marshalling support arm synchronous shaft.

The grouping block assembly is arranged on the conveying chain assembly.

The marshalling block assembly is provided with a marshalling support, a marshalling slide shaft, a screw jack, and a marshalling position encoder; the marshalling support is fixed on the chain frame by bolts; the marshalling slide shaft is driven by the screw elevator Move back and forth in the marshalling support; the marshalling position encoder detects the real-time position of the marshalling slide shaft.

The end of the marshalling slide shaft is fixed with a marshalling block seat, and a marshalling block is arranged on the marshalling block seat to move up and down, driven by the marshalling block cylinder.

The end of the conveying chain frame body is provided with a fixed stopper, so that the grouped steel row is positioned at the loading position.

The parallel four-bar linkage mechanism is composed of a stacking mechanism base, an active rod, an end beam of the main beam and a driven rod; two sets of the parallel four-bar linkage support the main beam and the components installed on the main beam .

Each set of the parallel four-bar linkage mechanism is provided with a stacking drive hydraulic cylinder.

A plurality of the palletizing mechanisms are connected through the synchronous shafts of the palletizing mechanisms; the synchronous shafts of the palletizing mechanisms are rigidly connected to the output shafts of the active rods to keep the mechanical actions of the two sets of four-bar linkages synchronized; in one of the active The output shaft of the bar is equipped with a stacking position encoder, which detects in real time and controls the swinging position of the stacking mechanism by the system.

One of the plurality of flipping electromagnetic chuck assemblies is provided with an electromagnetic chuck flip motor reducer; the electromagnetic chuck flip motor reducer drives all electromagnetic chuck bodies to turn over synchronously through the synchronous connection shaft of the electromagnetic chuck; the magnetic tongues on both sides It can slide on the body of the electromagnetic chuck, and the steel holding posture can be guaranteed after power-on.

The flipping electromagnetic sucker assembly is provided with a flipping driving sprocket, a flipping driven sprocket, a flipping chain, and a tensioning sprocket; the tension of the flipping chain is adjusted by a tensioning screw;

The flip electromagnetic chuck assembly is provided with an electromagnetic chuck body; the two sides of the electromagnetic chuck body are provided with rotating shafts, which are installed on the support through a bearing seat, and are driven by the flip driven sprocket to perform 180° reciprocation Flip movement.

An electromagnetic chuck position encoder is provided on the outermost electromagnetic chuck assembly to detect in real time and control the flipping position of the electromagnetic chuck by the system.

A plurality of the pressing mechanisms are equidistantly installed on the side of the main beam through bolt connections; a synchronization shaft of the pressing mechanism is arranged between all the pressing mechanisms to ensure the synchronous action of the pressing mechanisms; The synchronous shaft of the feeding mechanism is connected in series with the synchronous output shaft of the pressing mechanism to ensure the synchronous action of the pressing arm.

The support of the pressing mechanism is installed on the side of the main beam of the palletizing mechanism through bolts; a rack and gear synchronous mechanism are arranged on the pressing arm and the support of the pressing mechanism.

Each of the pressing mechanisms is provided with an independent pressing driving cylinder.

A pressing position encoder is provided on the synchronous output shaft of the pressing mechanism at the outer end to detect and control the lifting position of the pressing arm in real time.

The feeding bracket is driven by a hydraulic cylinder driven by a feeding mechanism.

The feeding bracket is provided with a gear and a rack synchronizing mechanism, and the output shafts of each feeding synchronizing mechanism are connected through the synchronizing transmission shaft of the feeding mechanism, so that each feeding bracket moves synchronously.

The synchronous output shaft of the feeding mechanism at the outer end is provided with a position encoder of the feeding mechanism, which detects in real time and controls the lifting position of the feeding bracket by the system.

The stacking lifting platform bracket is driven by a stacking drive hydraulic cylinder.

The stacking lifting platform bracket is provided with a gear and rack synchronization mechanism; the output shafts of each stacking lifting platform synchronization mechanism are connected through the synchronous transmission shaft of the stacking mechanism, so that each stacking lifting platform bracket moves synchronously.

The position encoder of the stacking lifting platform is arranged on the synchronous output shaft of the stacking lifting mechanism at the end, and the lifting position of the stacking lifting platform bracket is detected in real time and controlled by the system.

In order to achieve the same invention purpose as the above-mentioned technical solution, the present invention also provides the technical solutions of the above-mentioned high-speed automatic section steel palletizer automatic grouping method of section steel and automatic stacking method of section steel.

The automatic grouping process flow is as follows:

1. The marshalling block is at the stopper position set by the positive code, and the conveyor chain collects the finished steel to reach the quantity of the positive code marshalling;

2. When the marshalling conditions are satisfied, the marshalling bracket rises to separate the positive-coded steel bar;

3. The marshalling block is dropped and is in the release position, and the steel row to be marshalled is transported to the fixed stopper for palletizing through the conveyor chain; at the same time, the marshalling block is moved forward to the set reverse code block position;

4. After the marshalled steel row passes through the marshalling area, the marshalling stopper rises to the reverse code stop position, the marshalling bracket falls, the conveyor chain collects the steel row, and the compiled steel row reaches the fixed stop position for feeding, and the positive code marshalling is completed process;

5. The marshalling mechanism enters the reverse code marshalling mode, and the collected steel meets the reverse code marshalling conditions;

6. The marshalling bracket rises to separate the anti-coded steel row; the marshalling block falls to the release position, and the marshalling block moves to the positive code stop setting position after the marshalling block falls to prepare for the next positive code marshalling;

7. The assembled anti-coded steel row is sent to the fixed stopper for loading through the conveyor chain;

8. After the reverse-coded marshalling bar passes through the marshalling block area, the marshalling block rises and returns to the stop material level, the marshalling bracket descends, and the marshalling mechanism re-enters the positive code marshalling mode;

9. The system circulates the above-mentioned technological process, so that the grouping actions of the positive code and negative code of the section steel are carried out alternately.

The automatic palletizing process is as follows:

1. The steel bar to be coded is at the loading and waiting position, the stacking mechanism is at the positive code waiting position, and the pressing mechanism is at the positive code pressing position; the feeding bracket is at zero position; the stacking and lifting platform is at the working position;

2. The feeding bracket rises, and lifts the section steel row to the lower part of the working surface of the electromagnetic chuck assembly;

3. When the electromagnetic chuck is powered on, the section steel row is attracted to the electromagnetic chuck, and the feeding bracket quickly returns to zero position;

4. The stacking mechanism is positively placed;

5. The palletizing mechanism moves to the palletizing discharge position, and the sucked-in section steel row is located directly above the stacking lifting platform;

6. The pressing mechanism moves, and at the same time, the electromagnetic chuck is de-energized and released, and the pressing arm puts the section steel on the stacking lifting platform to complete the process flow of the section steel positive code;

7. The stacking and lifting platform descends at a fixed distance to ensure a certain height of the stacking surface; the stacking mechanism swings back to the reverse code waiting position; during the swing process, the pressing arm rises to the reverse code pressing position, and the electromagnetic sucker turns 180° , so that the working surface faces upward; the marshalling mechanism has completed the reverse code marshalling task, and the feeding bracket lifts the section steel to the reverse code feeding position;

8. The palletizing mechanism reaches the reverse code waiting position, and the equipment enters the reverse code process state;

9. The feeding bracket quickly returns to the zero position, and the reverse coded steel row is placed on the electromagnetic chuck, and the electromagnetic chuck is electrically attracted;

10. The palletizing mechanism is swinging forward, and at the same time, the electromagnetic sucker is flipped 180°;

11. After the electromagnetic sucker is turned over 180°, the pressing arm is lowered to the positive code pressing position;

12. The palletizing mechanism reaches the palletizing discharge position;

13. The pressing mechanism moves, and at the same time, the electromagnetic chuck is de-energized and released, and the pressing arm discharges the profiled steel on the stacking lifting platform to complete the process flow of the reverse code of the profiled steel;

14. The above is a working process of positive and negative coding of section steel. This working process is circulated to the set number of layers. The stacking lifting platform descends rapidly, and the stacking package is placed on the output device. The stacking package is moved out of the stacking station and stacked. The lifting platform quickly rises to the upper working position, and enters the next round of palletizing working conditions.

The present invention adopts the above-mentioned technical scheme, adopts the mechanical-electrical-hydraulic-pneumatic integrated marshalling mode and the electro-hydraulic proportional control link type palletizing mechanism, which is very suitable for high-speed palletizing of small materials. Compared with the traditional positive code and negative code mechanism, it overcomes the Due to various defects in the prior art, the present invention has the characteristics of fast and accurate section steel grouping, high efficiency and good versatility, and has the advantages of fast movement speed, accurate positioning and small impact, and solves the technical requirements of multi-variety and multi-standard section steel stacking processes ;It has the advantages of exquisite structure, novelty, precise movement position, and fast action frequency response, and is suitable for automatic palletizing of small materials that require fast palletizing frequency and high palletizing precision; on one piece of equipment, it can select the type, specification and length of steel It can realize the grouping and stacking requirements of angle steel, H-shaped steel, channel steel, I-shaped steel, track steel, square steel and various special-shaped steel; the link type palletizing mechanism with the function of flipping electromagnetic sucker can realize positive code and reverse code. The combination of the code mechanism; the unique pressing design can quickly separate the section steel from the palletizing mechanism and ensure the position and posture of the section steel during the blanking process; it is an innovative design of the section steel palletizing method, which improves the technical level of the enterprise's production process equipment, Reduce operating costs, better control product quality, significant economic benefits, and extensive marketing value.

Description of drawings

A brief description of the content shown in the drawings and the marks in the drawings is as follows:

Fig. 1 is a structural diagram of the present invention;

Fig. 2 is a schematic structural diagram of conveying and marshalling mechanism in Fig. 1;

Fig. 3 is a side view of conveying and marshalling mechanism in Fig. 2;

Fig. 4 is a schematic structural view of the stacking mechanism in Fig. 1;

Fig. 5 is a schematic structural diagram of the stacking electromagnetic chuck assembly in Fig. 4;

Fig. 6 is a schematic structural view of the pressing mechanism in Fig. 1;

Fig. 7 is a schematic diagram of the structure of the feeding and stacking mechanism in Fig. 1; the feeding and stacking mechanism in the middle position shows its internal structure;

Figures 8 to 15 are action state diagrams of each mechanism in the automatic grouping process, wherein:

Fig. 8 shows that the marshalling stopper is in the stopper position set by the positive code;

Fig. 9 shows that the marshalling condition is satisfied, the marshalling bracket rises, and the positive code type steel row is separated;

Figure 10 shows that the marshalling block falls and is in the release position;

Figure 11 shows that the marshalling block rises and is in the reverse code blocking position;

Fig. 12 shows that the marshalling mechanism enters the anti-code marshalling mode;

Figure 13 shows that the marshalling bracket rises to separate the anti-coded steel row;

Figure 14 shows that the grouped anti-coded steel row is sent to the fixed stopper for feeding through the conveyor chain;

Fig. 15 shows that the marshalling mechanism re-enters the positive code marshalling mode;

Figure 16 to Figure 28 are the action state diagrams of each mechanism in the automatic positive and negative palletizing process of the palletizing mechanism, wherein:

Fig. 16 is a state diagram in which the palletizing mechanism is at the positive code waiting position, and the pressing mechanism is at the positive code pressing position;

Fig. 17 is a state diagram of the rising of the feeding bracket;

Fig. 18 is a state diagram of the electromagnetic chuck being energized and the section steel row being attracted to the electromagnetic chuck;

Fig. 19 is a state diagram of the positive pendulum of the palletizing mechanism;

Fig. 20 is a state diagram of the palletizing mechanism moving to the palletizing discharge position;

Fig. 21 is a state diagram of the completion of the section steel positive code process;

Fig. 22 is the state diagram that the marshalling mechanism has completed the anti-code marshalling task;

Fig. 23 is a state diagram of the equipment entering the reverse code process;

Fig. 24 is a state diagram in which the feeding bracket places the reverse coded steel row on the electromagnetic chuck, and the electromagnetic chuck is electrically attracted;

Fig. 25 is a state diagram of the stacking mechanism being pendulum while the electromagnetic chuck is turned over;

Figure 26 is a state diagram of the pressure arm lowered to the positive code pressure level after the electromagnetic chuck is turned over;

Fig. 27 is a state diagram of the stacking mechanism reaching the stacking discharge position;

Fig. 28 is the completion state diagram of the section steel inverse code process flow;

Figure 29 is a process flow diagram of the present invention.

Labeled in the figure:

1. Conveying and marshalling mechanism, 2. Palletizing mechanism, 3. Pressing mechanism, 4. Feeding and stacking mechanism;

1-1. Conveyor chain assembly, 1-2. Conveyor chain synchronous drive shaft, 1-3. Conveyor chain transmission motor reducer, 1-4. Marshalling block assembly, 1-5. Marshalling support arm, 1-6, Marshalling arm drive cylinder, 1-7, marshalling arm synchronous shaft, 1-8, motor reducer assembly, 1-9, marshalling synchronous transmission shaft, 1-10, marshalling position encoder, 1-11, screw elevator, 1-12, marshalling block, 1-13, marshalling block cylinder, 1-14, marshalling fixed block, 1-15, marshalling support, 1-16, marshalling sliding shaft, 1-17, marshalling block seat ;

2-1. Palletizing mechanism base, 2-2. Driven rod, 2-3. Palletizing drive hydraulic cylinder, 2-4. Active rod, 2-5. Main beam, 2-6. Flip electromagnetic sucker Components, 2-7, electromagnetic chuck synchronous connection shaft, 2-8, palletizing position encoder, 2-9, palletizing mechanism synchronous shaft, 2-10, electromagnetic chuck flip motor reducer, 2-11, flip active chain Wheel, 2-12, overturning chain, 2-13, tensioning sprocket, 2-14, tensioning screw, 2-15, overturning driven sprocket, 2-16, magnetic tongue, 2-17, electromagnetic chuck body , 2-18, electromagnetic chuck support, 2-19, electromagnetic chuck position encoder;

3-1. Synchronous shaft of pressing mechanism, 3-2. Pressing arm, 3-3. Pressing drive cylinder, 3-4. Pressing guide assembly, 3-5. Pressing position encoder, 3-6. Pressing mechanism support;

4-1. Base, 4-2. Synchronous transmission shaft of feeding mechanism, 4-3. Synchronous transmission shaft of stacking mechanism, 4-4. Feeding bracket, 4-5. Guide assembly of feeding mechanism, 4-6 , Stacking lifting platform bracket, 4-7, stacking drive hydraulic cylinder, 4-8, feeding mechanism driving hydraulic cylinder, 4-9, stacking lifting platform guide assembly, 4-10, feeding mechanism position encoder , 4-11, stacking lift platform position encoder.

Detailed ways

The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

The structure of the present invention shown in Fig. 1 to Fig. 7 is a kind of high-speed, full-automatic section steel stacker. Including conveyor chain collection frame, marshalling positioning (stopper) mechanism, marshalling trolley, positive coding mechanism, reverse coding mechanism, stacking lifting platform, stacking bag transfer roller table.

The specific analysis is as follows:

One, in order to overcome the defective of prior art, realize the invention goal of the automation of improving production efficiency and section steel stacking, the technical scheme that the present invention takes is:

As shown in Figure 1, a kind of shaped steel palletizer of the present invention comprises conveying, marshalling mechanism 1, stacking mechanism 2, pressing mechanism 3 and feeding, stacking mechanism 4;

As shown in Figure 2, the conveying and marshalling mechanism 1 is provided with a conveying chain assembly 1-1 for collecting rows of shaped steel;

As shown in Figure 4, the palletizing mechanism 2 and the pressing mechanism 3 are arranged on the top of the conveying and marshalling mechanism 1 through the main beam 2-5 and the parallel four-bar linkage mechanism;

The palletizing mechanism 2 is provided with an overturning electromagnetic chuck assembly 2-6, and the bottom of the main beam 2-5 is connected by bolts to equidistantly arrange a plurality of overturning electromagnetic chuck assemblies 2-6;

As shown in Figure 6, 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 the pressing guide assembly 3-4. move;

As shown in Figure 7, each of the described feeding and stacking mechanisms 4 includes a feeding mechanism and a stacking mechanism, and shares a base 4-1; the described feeding mechanism is provided with a feeding bracket 4- 4. The feeding bracket 4-4 moves up and down on the base 4-1 through the feeding mechanism guide assembly 4-5; the stacking mechanism is provided with a stacking lifting platform bracket 4-6, so The stacking lifting platform bracket 4-6 moves up and down on the base 4-1 through the stacking lifting platform guide assembly 4-9.

The conveying and marshalling mechanism 1 collects the finished section steel into rows and performs positive and negative code marshalling on them. After the marshalling is successful, the section steel row is transported to the position and the fixed stopper at the end of the conveyor chain;

After the above-mentioned conveying and grouping of the section steel is completed, the feeding and stacking mechanism 4 lifts the section steel onto the reversible electromagnetic chuck located on the stacking mechanism 2;

After the electromagnetic sucker absorbs the profiled steel, the stacking mechanism 2 performs positive and negative stacking actions according to the set profiled steel stacking requirements, and finally puts the profiled steel code on the stacking table located on the loading and stacking mechanism 4;

The pressing mechanism 3 ensures that the profiled steel can be quickly released from the electromagnetic chuck and controls the posture of the profiled steel during the falling process.

The section steel conveying and marshalling mechanism 1 also includes: a marshalling bracket mechanism installed on the conveying chain frame, and a controllable position marshalling block mechanism arranged on the chain frame.

The profiled steel conveying and marshalling mechanism includes: a conveyor chain mechanism for collecting and forming rows of profiled steels, a marshalling bracket mechanism installed on the conveyor chain frame, and a controllable position marshalling block mechanism arranged on the chain frame.

Two, Fig. 2 is the structural representation of conveying, marshalling mechanism 1.

The conveyor chain collection frame of the conveyor chain assembly 1-1 is provided with a conveyor chain frame body, a driving sprocket, a driven sprocket, a tensioning sprocket and a conveyor chain. The conveyor chain components 1-1 are arranged side by side and equidistant according to the length of the section steel, and are fixed on the equipment foundation through the base of the collecting frame. Realize the section steel conveying function. The conveying chain, the driven sprocket assembly, the tensioning sprocket assembly and the main drive sprocket assembly form a set of chain conveying transmission mechanism.

A plurality of the conveyor chain assemblies 1-1 are connected through a conveyor chain synchronous transmission shaft 1-2. The transmission chain synchronous transmission shaft 1-2 is connected in series with the driving sprocket transmission shaft, and each transmission chain assembly 1-1 is synchronously transported.

The conveyor chain transmission motor reducer 1-3 is arranged on the conveyor chain collection rack of the conveyor chain assembly 1-1. The motor reducer drives the above-mentioned chain conveying transmission mechanism to run synchronously through the main transmission synchronous coupling.

The conveyor chain assembly 1-1 is provided with a marshalling support arm 1-5, and each marshalling support arm 1-5 is provided with a marshalling support arm drive cylinder 1-6 that drives its lifting; each marshalling support arm 1-5 5 is supported and fixed by the synchronous shaft 1-7 of the marshalling support arm to ensure that each marshalling support arm is lifted and lowered synchronously.

The conveyor chain assembly 1-1 is provided with a marshalling block assembly 1-4, which can set the position of the profiled steel when the profiled steel is grouped in forward and reverse codes. Marshalling block assembly 1-4 is driven by motor reducer assembly 1-8, and marshalling synchronous drive shaft 1-9 guarantees that each marshalling block assembly 1-4 synchronously moves block, and marshalling position coder 1-10 detects moving block ( The position of group stopper 1-12) is controlled by the system.

The marshalling bracket mechanism is installed on the conveyor chain collection rack through the bearing seat and the synchronous shaft, and each marshalling bracket is provided with a drive lifting cylinder, which keeps each marshalling bracket synchronously under the action of the synchronous shaft.

3. Fig. 3 is a schematic diagram of the facade structure of the marshalling block assembly 1-4.

Controllable position marshalling block mechanism:

The controllable position marshalling block mechanism is connected to the conveying chain collection rack through bolts, and a screw elevator drives the block sliding shaft to move horizontally and linearly.

The marshalling block assembly 1-4 is provided with a marshalling support 1-15, a marshalling slide shaft 1-16, a screw jack 1-11, and a marshalling position encoder 1-10; the marshalling support 1-15 passes through The bolts are fixed on the chain frame;

At the input end of the screw jack at the end, there is a rotary encoder that controls the position of the marshalling block by measuring the number of rotations of the synchronous coupling.

The marshalling stopper device is fixed on the marshalling slide shaft 1-16, and moves horizontally with the marshalling slide shaft 1-16 to reach the stop position set by the marshalling, and the marshalling stopper can move up and down on the block seat, with It is driven by the cylinder at the bottom. When the section steel reaches the specified grouping quantity, the grouping block will fall under the action of the cylinder, and the successfully grouped section steel group will be moved out of the grouping position through the conveyor chain and sent to the stacking level.

The marshalling slide shaft 1-16 moves forward and backward in the marshalling support 1-15 under the drive of the screw jack 1-11; the marshalling position encoder 1-10 detects the real-time position of the marshalling slide shaft 1-16.

The input end of each screw jack is connected with a synchronous coupling; the synchronous coupling is driven by a T-type motor reduction unit, which ensures the synchronization of the lifting of each marshalling bracket.

The controllable position marshalling block mechanism is connected to the conveyor chain collecting rack through bolts, and a screw elevator drives the block sliding shaft to move horizontally and linearly.

The end of the marshalling slide shaft 1-16 is fixed with a marshalling block seat 1-17, on which the marshalling block seat 1-17 is provided with a marshalling block 1-12 to move up and down, by the marshalling block Cylinders 1-13 drive.

The above structure enables the marshalling block 1-12 to have horizontal movement drive and position control, as well as lifting and lowering drive functions, which meets the technical requirements of quickly controlling the position of the block and the material passing during the marshalling process of section steel.

The end of the conveyor chain frame body is provided with a fixed stopper 1-14, so that the successfully marshalled shaped steel row is positioned at the feeding position.

4. Figure 4 is a structural schematic diagram of the palletizing mechanism.

The stacking mechanism with flipping electromagnetic suckers is provided with a parallel four-bar linkage mechanism, and two rotatable trunnion holes composed of rolling bearing seats are respectively provided at the ends of the main beam. The base of the palletizing mechanism is also provided with two rotatable trunnion holes formed by rolling bearing seats. The active rod and the driven rod connect the main beam and the base to form a parallel four-bar linkage mechanism. The base is horizontally fixed on the equipment foundation through anchor bolts, and a hydraulic cylinder for driving the swinging mechanism is provided on the active link.

specifically:

The parallel four-bar linkage mechanism is composed of a stacking mechanism base 2-1, an active rod 2-4, an end beam of a main beam 2-5, and a driven rod 2-2; The rod mechanism supports the main beam 2-5 and the members mounted on the main beam 2-5.

The palletizing mechanism base 2-1 is equivalent to the frame of the four-bar mechanism; the active rod 2-4 and the driven rod 2-2 are equivalent to the two rockers of the four-bar mechanism; the end beams of the main beam 2-5 are equivalent Connecting rods in a four-bar mechanism.

Each set of the parallel four-bar linkage mechanism is provided with stacking drive hydraulic cylinders 2-3. The piston rod of the palletizing driving hydraulic cylinder 2-3 is hingedly connected with the active rod 2-4, so as to realize the reciprocating swing of the palletizing mechanism 2 along the conveying direction of the conveying chain assembly 1-1.

A plurality of the palletizing mechanisms 2 are connected through the synchronous shafts 2-9 of the palletizing mechanisms; the synchronous shafts 2-9 of the palletizing mechanisms are rigidly connected to the output shafts of the active rods 2-4, maintaining two sets of four-linkages The mechanical actions of the mechanism are synchronized; the output shaft of one of the active rods 2-4 is provided with a stacking position encoder 2-8, which detects in real time and controls the swinging position of the stacking mechanism by the system.

One of the plurality of flipping electromagnetic chuck assemblies 2-6 is provided with an electromagnetic chuck flip motor reducer 2-10; the electromagnetic chuck flip motor reducer 2-10 is synchronously connected to the shaft 2-7 through the electromagnetic chuck All the electromagnetic chuck bodies 2-17 are driven to turn over synchronously; the magnetic tongues 2-16 on both sides can slide on the electromagnetic chuck body, and the shape steel holding posture can be guaranteed after power-on.

The two groups of parallel four-bar linkages make the main beam swing at a certain angle in the vertical plane, and the bottom surface of the main beam is always kept horizontal. A rigid synchronous connection shaft is provided on the rotating shaft connecting the active rod and the base, so that the two sets of parallel four-bar linkages can oscillate synchronously. A position encoder for detecting the rotation angle of the rotating shaft is provided at one end of the rotating shaft to achieve the purpose of controlling the moving position of the main beam.

5. Fig. 5 is a schematic diagram of the structure of the flip electromagnetic chuck assembly with the driving device.

Below the main beam of the palletizing mechanism, there are electromagnetic chuck installation supports arranged in equal rows, and the supports are connected under the main beam by bolts. The rectangular electromagnetic chuck is supported on the support by the trunnions installed on the two side plates and can be rotated by 180°.

specifically:

The bottom of the main beam 2-5 is connected by bolts to equidistantly arrange a plurality of overturning electromagnetic sucker assemblies 2-6;

Described overturning electromagnetic sucker assembly 2-6 is provided with overturning driving sprocket 2-11, overturning driven sprocket 2-15, overturning chain 2-12, tensioning sprocket 2-13; -11 forms chain transmission with overturning driven sprocket 2-15 and overturning chain 2-12.

The tension of the turning chain 2-12 is adjusted by the tensioning screw 2-14;

The flipping 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, which are installed on the electromagnetic chuck support 2-18 through a bearing seat, and on the Under the drive of described overturning driven sprocket 2-15, do 180 ° reciprocating overturning motion.

An electromagnetic chuck position encoder 2-19 is provided on the outermost electromagnetic chuck assembly 2-6 to detect in real time and control the flipping position of the electromagnetic chuck by the system.

The electromagnetic sucker turning motor reducer 2-10 is installed on the support 2-18, and is transmitted to other electromagnetic sucker components through the electromagnetic sucker synchronous connection shaft 2-7 and can keep the electromagnetic sucker turning over synchronously.

An electromagnetic chuck position encoder 2-19 is provided on the outermost electromagnetic chuck assembly 2-6 to detect in real time and control the flipping position of the electromagnetic chuck by the system.

The electromagnetic chuck is provided with a magnetic tongue that slides by its own weight, and when the working face of the electromagnetic chuck is facing downward, it can maintain the original state of the held section steel, so that the section steel will not be sucked over. The electromagnetic flip is driven by a group of chain transmissions, the motor reducer installed on the middle bracket drives the small sprocket, and the large sprocket installed on the trunnion of the electromagnetic chuck is driven by the chain to realize the flip of the electromagnetic chuck. A tensioning device is provided on the chain drive. Each reversible electromagnetic chuck, bracket, and chain drive assembly can flip and stack the electromagnetic chuck assembly.

The independent reversible stacking electromagnetic chuck components are connected by a synchronous rotating shaft, which ensures that the flipping action of each electromagnetic chuck is synchronized. The electromagnetic chuck group at the tail end is provided with a position encoder for detecting the rotation angle of the synchronous rotating shaft to control the angle of the electromagnetic chuck turning over.

6. FIG. 6 is a structural schematic diagram of the pressing mechanism 3 .

Each stacking electromagnetic chuck assembly is equipped with a set of 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, and the gear assembly installed on the pressing base forms a synchronous mechanism for the movement of the pressing arm. The synchronization mechanism of each pressing mechanism is connected to realize the synchronization of the up and down movement of the pressing arm.

specifically:

A plurality of said pressing mechanisms 3 are equidistantly installed on the side of the main beam 2-5 through bolt connection; all pressing mechanisms 3 are provided with a pressing mechanism synchronous shaft 3-1 to ensure that the pressing mechanism The synchronous action of the pressing mechanism; the synchronous shaft 3-1 of the pressing mechanism is connected in series with the synchronous output shaft of the pressing mechanism to ensure the synchronous action of the pressing arm 3-2.

The pressing mechanism 3 is provided with a pressing mechanism support 3-6, a pressing arm 3-2, and a pressing guide assembly 3-4;

The supporting mechanism 3-6 of the pressing mechanism is installed on the side of the main beam 2-5 of the stacking mechanism through bolts; a rack is arranged on the pressing arm 3-2 and the supporting mechanism 3-6 of the pressing mechanism , Gear synchronization mechanism.

Each of the pressing mechanisms 3 is provided with an independent pressing driving cylinder 3-3. Make the pressing arm 3-2 move up and down.

A pressing position encoder 3-5 is provided on the synchronous output shaft of the pressing mechanism at the outer end to detect in real time and control the lifting position of the pressing arm 3-2 by the system.

The pressing mechanism support 3-6 is installed on the side of the main beam 2-5 of the palletizing mechanism through bolts; the pressing arm 3-2 is mounted on the pressing mechanism support 3- 6 to move up and down; there is a rack and gear synchronization mechanism on the pressing arm 3-2 and the support 3-6;

7. Fig. 7 is a schematic diagram of the structure of the feeding and stacking mechanism 4.

The shaped steel of the present invention is provided with a plurality of feeding and stacking mechanisms 4, each feeding and stacking mechanism 4 includes a feeding mechanism and a stacking mechanism, and shares a base 4-1, the advantage is that the feeding mechanism and the stacking mechanism The position accuracy between the stacking mechanisms is high, the floor space is small, and the on-site installation is easy.

The described feeding and stacking mechanisms 4 are equidistantly arranged below the palletizing mechanism 2 .

Its function is to send the marshaled profiled steel to the working surface of the stacking electromagnetic chuck by means of lifting. The profiled steel is located below the electromagnetic chuck when the profiled steel is positively coded, and the profiled steel is located above the electromagnetic chuck when the profiled steel is reversed. The stacking mechanism mainly stores the stacked section steel bales. During the stacking process, the surface of the bales is kept at a certain height. After the bales are formed, the bales are quickly placed on the bales conveying mechanism and removed from the stacking station.

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 loading lifting arm is driven by a hydraulic cylinder to move up and down in the stacking base, and the rack installed on the side of the loading lifting arm drives the gear for synchronization The synchronous transmission shaft installed on the gear is rotated, and a synchronous connection shaft is provided on the rotating shaft of each mechanism to ensure the synchronous action of the feeding lifting arm. The synchronous rotating shaft of the feeding mechanism at the end is provided with an angular position encoder, and the up and down 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 guide assembly 4-5;

The feeding bracket 4-4 is driven by a feeding mechanism driving a hydraulic cylinder 4-8. The guide assembly 4-5 of the loading mechanism moves up and down on the base 4-1.

Described feeding bracket 4-4 is provided with gear, rack synchronous mechanism, connects each feeding synchronous mechanism output shaft through feeding mechanism synchronous transmission shaft 4-2, makes each feeding bracket 4-4 synchronous action.

The synchronous output shaft of the feeding mechanism at the outer end is provided with a feeding mechanism position encoder 4-10, which detects in real time and controls the lifting position of the feeding bracket 4-4 by the system.

The stacking mechanism is provided with a stacking lifting platform bracket 4-6; and the stacking lifting platform guide assembly 4-10 moves up and down on the base 4-1. The stacking lifting platform bracket 4-6 is driven by the stacking drive hydraulic cylinder 4-7.

The stacking lifting platform bracket 4-6 is provided with a gear and rack synchronous mechanism; the synchronous transmission shaft 4-3 of the stacking mechanism is connected to the output shaft of each stacking lifting platform synchronization mechanism, so that each stacking lifting platform bracket 4-6 Synchronous actions.

The synchronous output shaft of the terminal 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 the stacking lifting platform bracket 4-6 by the 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 guide bearing assembly is installed on the stacking base, the stacking lifting platform is driven by a hydraulic cylinder to move up and down in the stacking base, and the rack installed on the side of the stacking lifting platform drives the gear for synchronization The synchronous transmission shaft installed on the gear is rotated, and a synchronous connection shaft is provided on the rotating shaft of each set of mechanisms to ensure the synchronous action of the stacking lifting platform. The synchronous rotating shaft of the stacking mechanism at the end is provided with an angular position encoder, and the lifting position of the stacking lifting platform is controlled by detecting the rotation angle of the synchronous rotating shaft.

In order to achieve the same invention purpose as the above-mentioned technical solution, the present invention also provides the above-mentioned technical solutions of the above-mentioned fully automatic section steel automatic grouping method and section steel automatic palletizing method. In order to better understand the working principle of the present invention, Fig. 8 to Fig. 15 describe the action state of each mechanism in the process flow of automatic grouping of shaped steel, and Fig. 16 to Fig. 28 describe the state of action of each mechanism in the process flow of automatic stacking of shaped steel.

Figure 29 is a process flow diagram of the present invention.

Eight, the automatic marshalling technological process of the high-speed automatic section steel palletizer of the present invention is as follows:

1. As shown in Figure 8: the marshalling block 1-12 is at the stop position set by the positive code, and the conveying chain 1-1 collects the finished steel to reach the number of the positive code marshalling;

At this time, when the mechanism is in the positive code marshalling process, the marshalling block 1-12 is positioned to the set position through the marshalling slide shaft 1-16, and the marshalling block 1-12 is in a high-position blocking state, and the conveyor chain transmits The shaped steel is arranged in rows on the conveyor chain;

2. As shown in Figure 9: the marshalling conditions are satisfied, the marshalling bracket 1-5 rises, and the positive-coded steel row is separated;

That is: when the section steel row reaches the number of positive code marshalling, the marshalling bracket 1-15 rises, and the positive code marshalling steel is between the marshalling positioning block and the marshalling bracket;

3. As shown in Figure 10: the marshalling block 1-12 is in the release position, and the steel row to be marshalled is transported to the palletizing fixed block 1-14 through the conveyor chain 1-1; at the same time, the marshalling block 1-12 Move forward to the set reverse code stop position;

The marshalling block falls to the discharge position, and at the same time, the marshalling slide shaft 1-16 drives the marshalling block 1-12 to move to the stop position set by the reverse code; the positive code marshalling bar is moved out of the marshalling work through the conveyor chain 1-1 position, and finally at the fixed stopper on the stacking level;

4. As shown in Figure 11: After the marshalling steel row passes through the marshalling area, the marshalling block 1-12 rises to be at the reverse code stop position, the marshalling bracket 1-5 falls, the conveyor chain collects the steel row, and the compiled steel row Reach the feeding fixed stop position 1-14, and complete the positive code grouping process;

After the positive code marshalling bar moves out of the marshalling block position, the marshalling block 1-12 rises to the material stop position, and at the same time, the marshalling bracket 1-5 descends, and the marshalling mechanism collects the profiled steel. At this time, the mechanism is in the reverse code marshalling process;

5. As shown in Figure 12: the marshalling mechanism enters the reverse code marshalling mode, and the collected steel meets the reverse code marshalling conditions;

6. As shown in Figure 13: the marshalling bracket 1-5 rises, and the anti-coded steel row is separated; the marshalling stopper 1-12 falls to the release position, and the marshalling stopper 1-12 moves to the positive code stopper setting after falling Bit, prepare the conditions for the next positive code grouping;

When the section steel row reaches the number of anti-code marshalling, the marshalling bracket 1-5 rises, and the anti-code marshalling steel is between the marshalling positioning stopper and the marshalling bracket;

7. As shown in Figure 14: the marshalled reverse-coded steel row is sent to the fixed stopper for loading through the conveyor chain;

The marshalling block 1-12 falls to the discharge position, and at the same time, the marshalling slide shaft 1-16 drives the marshalling block 1-12 to move to the stop position set by the positive code; position, and finally at the fixed stopper on the stacking level;

8. As shown in Figure 15: After the anti-code marshalling bar passes through the marshalling block area, the marshalling block 1-12 rises and returns to the stop level, the marshalling bracket 1-5 descends, and the marshalling mechanism re-enters the positive code marshalling mode;

After the reverse-coded marshalling section bar is moved out of the marshalling block position, the marshalling block 1-12 rises at the material stop position, and at the same time, the marshalling bracket 1-5 descends, and the marshalling mechanism collects the profiled steel. At this time, the mechanism returns to the positive code marshalling process;

9. The system repeats the above-mentioned technological process to realize the alternation of positive code and reverse code grouping of section steel.

Nine, the automatic palletizing process of the high-speed fully automatic section steel palletizer of the present invention is as follows:

1. As shown in Figure 16: the steel row to be positively coded is located at the loading and waiting position, the palletizing mechanism 2 is at the positively coded waiting position, and the pressing mechanism 3 is at the positively coded pressing position; the feeding bracket 4- 4 is at the zero position; the stacking lifting platform 4-6 is at the upper working position;

When the positive code marshalling section steel is transported to the fixed block of the upper material level of the stacking through the conveyor chain, the palletizing mechanism is in the positive code waiting position, the working face of the electromagnetic sucker is downward, and the pressing arm is in the positive code pressing position;

2. As shown in Figure 17: the loading bracket 4-4 rises, and the section steel row is lifted to the bottom of the working surface of the electromagnetic chuck assembly 2-6;

The supporting arm of the feeding mechanism rises to the positive code loading working position, and lifts the marshaled positive stacked stacked steel to the working surface of the electromagnetic chuck.

3. As shown in Figure 18: the electromagnetic chuck is powered on, the steel row is attracted to the electromagnetic chuck, and the feeding bracket 4-4 quickly returns to zero position;

The electromagnetic chuck is energized and closed, and the loading bracket returns to the original zero position.

4. As shown in Figure 19: the stacking mechanism 2 is positively pendulum;

The palletizing mechanism that attracts and stacks the profiled steel positively swings toward the palletizing lifting platform to realize the forward stacking of the profiled steel.

5. As shown in Figure 20: the palletizing mechanism 2 moves to the palletizing discharge position, and the sucked-in section steel row is located directly above the stacking lifting platform 4-6;

When the palletizing mechanism 2 moves to the palletizing discharge position, the pressing mechanism moves downward;

6. As shown in Figure 21: the pressing mechanism 3 operates, and at the same time, the electromagnetic chuck 2-17 is de-energized and released, and the pressing arm 3-2 puts the section steel on the stacking lifting platform 4-6, and completes the section steel positive coding process process;

That is: the electromagnetic chuck is powered off, and the section steel is placed on the stacking lifting table with a certain height;

7. As shown in Figure 22: the stacking lifting platform 4-6 descends at a fixed distance to ensure a certain height of the stacking surface; the stacking mechanism 2 is reversely swung to the reverse code waiting position; Rising to the reverse code pressing position, the electromagnetic chuck 2-17 (counterclockwise in the figure) is turned over 180°, so that the working surface faces upward; the marshalling mechanism has completed the reverse code marshalling task, and the feeding bracket 4-4 lifts the steel To the negative code loading position;

The stacking lifting platform descends at a fixed distance to ensure that the stacking surface maintains the set stacking height, and completes the forward stacking function of section steel;

After the above work is completed, the palletizing mechanism swings in reverse, and moves to the set position for reverse palletizing; during the movement, the electromagnetic chuck rotates 180°, the working surface of the electromagnetic chuck faces upward, and the pressing arm rises to the reverse code pressing material Working position; during this period, the loading arm has lifted the reverse code steel group to the reverse code loading position;

8. As shown in Figure 23: the palletizing mechanism 2 reaches the reverse code waiting position, and the equipment enters the reverse code process state;

9. As shown in Figure 24: the loading bracket 4-4 quickly returns to the zero position, and the inverted steel row is placed on the electromagnetic chuck 2-17, and the electromagnetic chuck 2-17 is electrically attracted;

When the stacking mechanism 2 moves to the reverse stacking waiting position, the feeding bracket 4-4 quickly drops to the zero position, and the section steel is dropped on the working surface of the electromagnetic chuck.

10. As shown in Figure 25: the stacking mechanism 2 is swinging forward, and at the same time, the electromagnetic chuck 2-17 (clockwise in the figure) turns 180°;

The electromagnetic chuck is energized and closed, and the palletizing mechanism swings forward. During the action of the palletizing mechanism, the electromagnetic chuck rotates 180°, turning the section steel to the reverse code requirement.

11. As shown in Figure 26: After the electromagnetic chuck is turned over 180°, the pressing arm 3-2 drops to the positive pressing position;

After the electromagnetic chuck rotates, the pressing mechanism 3 moves, and the pressing arm 3-2 descends to the positive code pressing position;

12. As shown in Figure 27: the palletizing mechanism 2 reaches the palletizing discharge position;

13. As shown in Figure 28: the pressing mechanism 3 operates, and at the same time, the electromagnetic chuck 2-17 is de-energized and released, and the pressing arm 3-2 puts the section steel on the stacking lifting platform 4-6, and completes the anti-coding of the section steel process flow;

When the stacking mechanism 2 moves to the stacking discharge position, the pressing mechanism 3 moves downward, and at the same time the electromagnetic chuck loses power, and the section steel is placed in the section steel row that has been stacked, and the reverse stacking function of the section steel is completed.

14. The above is a working process of positive and negative coding of section steel. This working process is circulated to the set number of layers. The stacking lifting platform 4-6 quickly descends, and the stacking package is placed on the output device, and the stacking package is moved out of the stacking station. , the stacking lifting platform 4-6 quickly rises to the upper working position, and enters the next round of stacking and stacking working conditions.

The equipment circulates the above-mentioned technological process. When the number of stacking layers reaches the set requirements, the stacking lifting platform 4-6 quickly descends, and the formed stacking package is placed on the stacking package output device. After the stacking package is moved out of the stacking station, The stacking lifting platform 4-6 quickly rises to the set working position, and the equipment re-enters the next stacking process.

The present invention adopts the above-mentioned technical scheme to realize the automatic palletizing of section steel; adopts the electromechanical-hydraulic integrated marshalling mode, which overcomes the low efficiency, the need for on-site manual adjustment, the poor versatility and the inability to marshal small steel in the prior art medium-shaped steel mechanical marshalling method Defects; the present invention has the characteristics of fast and accurate marshalling, high efficiency, and good versatility, and can realize angle steel, H-shaped steel, channel steel, I-beam, track steel, For the palletizing of square steel and other special-shaped steel, the electro-hydraulic proportional control link-type palletizing mechanism has the advantages of fast movement speed, accurate positioning and small impact, which is very suitable for high-speed palletizing of small materials. The palletizing mechanism separates and ensures the position and posture of the section steel during the blanking process. It is an innovative design of a section steel palletizing method, which has extensive market promotion value.

The present invention has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above-mentioned method, as long as various insubstantial improvements are adopted from the method concept and technical solutions of the present invention, or there is no improvement Directly applying the concept and technical solutions of the present invention to other occasions is within the protection scope of the present invention.

Claims (3)

1. A profiled steel palletizer, described profiled steel palletizer comprises conveying, marshalling mechanism (1), stacking mechanism (2), pressing mechanism (3) and feeding, stacking mechanism (4); The conveying and marshalling mechanism (1) is provided with a conveying chain assembly (1-1); The stacking mechanism (2) and the pressing mechanism (3) are arranged on the top of the conveying and marshalling mechanism (1) through the main beam (2-5) and the parallel four-bar linkage mechanism; The palletizing mechanism (2) is provided with an overturning electromagnetic chuck assembly (2-6), and the bottom of the main beam (2-5) is connected by bolts to equidistantly arranged a plurality of overturning electromagnetic chuck assemblies (2-6). 6); The pressing mechanism (3) is provided with a pressing arm (3-2), and the pressing arm (3-2) is placed on the pressing mechanism support (3-2) through the pressing guide assembly (3-4). 6) Move up and down; Each described feeding, stacking mechanism (4) all comprises feeding mechanism and stacking mechanism, and shares a base (4-1); Described feeding mechanism is provided with feeding bracket (4-4 ), the feeding bracket (4-4) moves up and down on the base (4-1) through the feeding mechanism guide assembly (4-5); the stacking mechanism is provided with a stacking lifting platform support frame (4-6), the stacking lifting platform bracket (4-6) moves up and down on the base (4-1) through the stacking lifting platform guide assembly (4-9); The conveyor chain assembly (1-1) is provided with a conveyor chain frame body, a driving sprocket, a driven sprocket, a tensioning sprocket and a conveyor chain; The parallel four-bar linkage mechanism is composed of a stacking mechanism base (2-1), an active rod (2-4), an end beam of a main beam (2-5) and a driven rod (2-2); The two sets of parallel four-bar linkage mechanisms support the main beam (2-5) and the components installed on the main beam (2-5); A plurality of said pressing mechanisms (3) are equidistantly installed on the side of the main beam (2-5) through bolt connections; all pressing mechanisms (3) are provided with pressing mechanism synchronous shafts (3 -1), ensuring the synchronous action of the pressing mechanism; the synchronous shaft (3-1) of the pressing mechanism is connected in series with the synchronous output shaft of the pressing mechanism to ensure the synchronous action of the pressing arm (3-2); Described feeding bracket (4-4) is provided with gear, rack synchronous mechanism, connects each feeding synchronous mechanism output shaft by feeding mechanism synchronous transmission shaft (4-2), makes each feeding bracket (4 -4) Synchronous action; A plurality of the conveyor chain components (1-1) are connected through a conveyor chain synchronous transmission shaft (1-2); A conveyor chain transmission motor reducer (1-3) is arranged in the middle of the conveyor chain assembly (1-1); A marshalling support arm (1-5) is arranged on the conveyor chain assembly (1-1), and each marshalling support arm (1-5) is provided with a marshalling support arm drive cylinder (1-6) to drive its lifting ; Each marshalling support arm (1-5) is supported and fixed by the marshalling support arm synchronous shaft (1-7); The grouping block assembly (1-4) is arranged on the conveying chain assembly (1-1); The marshalling block assembly (1-4) is provided with a marshalling support (1-15), a marshalling slide shaft (1-16), a screw jack (1-11), and a marshalling position encoder (1-10); The marshalling support (1-15) is fixed on the chain frame by bolts; The marshalling slide shaft (1-16) moves forward and backward in the marshalling support (1-15) under the drive of the screw jack (1-11); the marshalling position encoder (1-10) detects the marshalling slide The real-time position of the axis (1-16); A marshalling block seat (1-17) is fixed at the end of the marshalling slide shaft (1-16), and a marshalling block (1-12) is arranged on the marshalling block seat (1-17) For up and down movement, driven by group block cylinder (1-13); The end of the conveying chain frame body is provided with a fixed stopper (1-14), so that the successfully marshalled shaped steel row is positioned at the feeding position; Each set of the parallel four-bar linkage mechanism is provided with a stacking drive hydraulic cylinder (2-3); A plurality of the palletizing mechanisms are connected through the synchronous shafts (2-9) of the palletizing mechanisms; the rigid connection of the synchronous shafts (2-9) of the palletizing mechanisms is located at the output shaft of the active rod (2-4), maintaining The mechanical actions of two sets of four-bar linkages are synchronized; the output shaft of one of the active rods (2-4) is provided with a stacking position encoder (2-8), which detects and controls the swinging position of the stacking mechanism in real time ; On one of the multiple described overturning electromagnetic chuck assemblies (2-6), an electromagnetic chuck overturning motor reducer (2-10) is provided; the electromagnetic chuck overturning motor reducer (2-10) The synchronous connection shaft (2-7) drives all the electromagnetic chuck bodies (2-17) to turn over synchronously; the magnetic tongues (2-16) on both sides can slide on the electromagnetic chuck body, and the steel holding posture can be guaranteed after power-on; The flip electromagnetic chuck assembly (2-6) is provided with a flip driving sprocket (2-11), a flip driven sprocket (2-15), a flip chain (2-12), a tensioning sprocket (2- 13); the overturning chain (2-12) adjusts its tension through the tensioning screw (2-14); The flipping 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, which are installed on the electromagnetic chuck support ( 2-18), under the drive of the flip driven sprocket (2-15), do 180 ° reciprocating flip motion; An electromagnetic chuck position encoder (2-19) is provided on the outermost electromagnetic chuck assembly (2-6), which detects in real time and controls the flipping position of the electromagnetic chuck by the system; Described pressing mechanism support (3-6) is installed on the side of stacking mechanism main beam (2-5) by bolt; -6) There is a rack and gear synchronization mechanism; Each of the pressing mechanism (3) is provided with an independent pressing driving cylinder (3-3); The synchronous output shaft of the pressing mechanism at the outer end is provided with a pressing position encoder (3-5), which detects in real time and controls the lifting position of the pressing arm (3-2) by the system; The feeding bracket (4-4) is driven by a feeding mechanism driving a hydraulic cylinder (4-8); The synchronous output shaft of the feeding mechanism at the outer end is provided with a feeding mechanism position encoder (4-10), which detects in real time and controls the lifting position of the feeding bracket (4-4) by the system; The stacking lifting platform bracket (4-6) is driven by a stacking drive hydraulic cylinder (4-7); The stacking lifting platform bracket (4-6) is provided with a gear and a rack synchronous mechanism; the synchronous transmission shaft (4-3) of the stacking mechanism is connected to the output shaft of each stacking lifting platform synchronization mechanism, so that each stacking The lifting platform bracket (4-6) moves synchronously; A stacking lift platform position encoder (4-11) is provided on the synchronous output shaft of the end stacking lifting mechanism to detect in real time and control the lifting position of the stacking lifting platform bracket (4-6) by the system. 2. according to the automatic marshalling method that the section steel stacker of claim 1 adopts, it is characterized in that the automatic marshalling technological process is as follows: 1), the marshalling block (1-12) is in the stop position set by the positive code, and the conveying chain (1-1) collects the finished steel to reach the number of the positive code marshalling; 2) When the marshalling conditions are satisfied, the marshalling bracket (1-5) rises to separate the positive-coded steel row; 3), the marshalling stopper (1-12) falls and is in the release position, and the steel bar to be marshalled is transported to the fixed stopper (1-14) of the palletizing material through the conveyor chain (1-1); at the same time, the marshalling stopper (1-14) -12) Move forward to the set reverse code stop position; 4) After the marshalling bar passes through the marshalling area, the marshalling block (1-12) rises to be at the reverse code stop position, the marshalling bracket (1-5) falls, the conveyor chain collects the bar, and the braided bar arrives Feeding fixed stop position (1-14), complete the positive coding grouping process; 5) The marshalling mechanism enters the reverse code marshalling mode, and the collected steel meets the reverse code marshalling conditions; 6) The marshalling bracket (1-5) rises to separate the anti-coded steel row; the marshalling stopper (1-12) falls to the release position, and the marshalling stopper (1-12) moves to the positive code stopper after falling. Positioning, preparing conditions for the next positive code grouping; 7) The assembled anti-coded steel row is sent to the fixed stopper for loading through the conveyor chain; 8) After the anti-code marshalling bar passes through the marshalling block area, the marshalling block (1-12) rises and recovers to the stop material level, the marshalling bracket (1-5) descends, and the marshalling mechanism re-enters the positive code marshalling mode; 9), the system circulates the above-mentioned technological process, so that the grouping actions of the positive code and negative code of the section steel are carried out alternately. 3. According to the automatic stacking method adopted by the section steel stacker according to claim 1, it is characterized in that the automatic stacking process flow is as follows: 1), the steel bar to be positively coded is located at the loading and waiting position, the palletizing mechanism (2) is at the positively coded waiting position, and the pressing mechanism (3) is at the positively coded pressing position; the feeding bracket (4- 4) At the zero position; the stacking lifting platform (4-6) is at the upper working position; 2), the feeding bracket (4-4) rises, and the section steel row is lifted to the bottom of the working surface of the electromagnetic chuck assembly (2-6); 3) When the electromagnetic chuck is energized, the section steel row is attracted to the electromagnetic chuck, and the feeding bracket (4-4) quickly returns to zero position; 4), the palletizing mechanism (2) is positively pendulum; 5), the stacking mechanism (2) moves to the stacking discharge position, and the section steel row that is attracted is located directly above the stacking lifting platform (4-6); 6), the pressing mechanism (3) moves, and at the same time, the electromagnetic chuck (2-17) loses power and releases, and the pressing arm (3-2) puts the section steel on the stacking lifting platform (4-6), and the section steel is completed Positive code process flow; 7), the stacking lifting platform (4-6) is lowered at a fixed distance to ensure a certain height of the stacking surface; the stacking mechanism (2) is reversely swung to the reverse code waiting position; ) rises to the reverse code pressing position, and the electromagnetic chuck (2-17) turns over 180° so that the working surface faces upward; code on the material level; 8), the palletizing mechanism (2) reaches the reverse code waiting position, and the equipment enters the reverse code process state; 9), the feeding bracket (4-4) quickly returns to the zero position, and the reverse-coded steel row is placed on the electromagnetic chuck (2-17), and the electromagnetic chuck (2-17) is electrically attracted; 10), the palletizing mechanism (2) is swinging forward, and at the same time, the electromagnetic sucker (2-17) turns over 180°; 11) After the electromagnetic sucker is turned over 180°, the pressing arm (3-2) drops to the positive code pressing level; 12), the palletizing mechanism (2) reaches the palletizing discharge position; 13), the pressing mechanism (3) operates, and at the same time the electromagnetic chuck (2-17) is de-energized and released, and the pressing arm (3-2) discharges the section steel on the stacking lifting platform (4-6), completing Section steel reverse code process flow; 14) The above is a working process of positive and negative coding of section steel. This working process is circulated to the set number of layers, and the stacking lifting platform (4-6) descends rapidly, and the stacking package is placed on the output device, and the stacking package is moved out of the code At the stacking station, the stacking lifting platform (4-6) quickly rises to the upper working station and enters the next round of stacking and bag stacking working conditions.

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