CN111410050A - An automatic support system and control method for the ejector rod of a multi-mode stacking frame with a gas-filled plate - Google Patents

Abstract

The invention discloses an automatic support system for the ejector rod of a multi-mould stacking frame of an aerated plate, which belongs to the technical field of automatic production of autoclaved aerated concrete building materials. It first designs a movable base that can be stacked with each other through the support, and furthermore The bottom frame and movable frame that cooperate with each other are designed on both sides of the track, so that the movable frame can move forward and backward on the base frame, and at the same time, the movable frame itself can lift and drop the mechanical arm installed on it. The mechanical arm can complete the clamping and rotating operations of the pole, and use this whole set of movable mechanisms to realize the operations of clamping, taking out, rotating and inserting the pole. After the pole is installed, it can be used and moved. The crane frame structure matched with the base puts another movable base on top of the movable base with the pole installed to complete the stacking operation.

Description

An automatic support system and control method for the ejector rod of a multi-mode stacking frame with a gas-filled plate

technical field

The invention relates to the technical field of automatic production of autoclaved air-entrained concrete building materials, in particular to an automatic support system and a control method for an ejector rod of a multi-form stacking frame of an aerated plate.

Background technique

Autoclaved aerated concrete slab (referred to as aerated slab, AAC slab), as a composite building material, has been widely promoted and applied in China because of its economical, convenient construction and environmentally friendly production characteristics. Cement, lime, silica sand and other raw materials are fully mixed into slurry, and then poured into a trolley with steel mesh for pouring and molding, and then cut, and further steam curing operation is performed on the pressure plate after cutting; Steam curing is to directly transfer the pressurized plates formed in the mold car of multiple units to the top of the ferry car and put them into the steam curing kettle one by one for steam curing, but in order to ensure product quality, the size of the mold car will not be designed. is too large, and the inner diameter of the steam-curing kettle will be much larger than that of the molded product, which makes a large amount of free space above the steam-curing kettle unusable; and if you want to directly improve the steam-curing efficiency of the steam-curing kettle, the ferry car It is a good method to stack in advance, but considering that if the stacking operation is performed manually, it will greatly increase the burden on the staff, and if it is necessary to stack taller molded products, it is also prone to safety risks. Therefore, A stacking device capable of multiple forming dies is urgently needed.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is: to provide an automatic support system for the ejector rod of the multi-mode stacking frame of the gas-filled plate, so as to solve the problem that the automation degree of the current stacking process for the gas-filled plate is low, and the human resources are too much. Can not meet the needs of mass production.

To solve the above problems, the present invention provides the following technical solutions:

The utility model relates to an automatic support system for the ejector rod of a multi-mode stacking frame with an air-filled plate, which comprises a track fixed on the ground; Removably installed on the track by rollers;

There are two or more positioning holes opened in the vertical direction on the top of the movable base, and support rods are respectively detachably installed on the two side end faces of the movable base opposite to each other; the size of the end of the support rod is the same as the positioning hole. The size is matched; there is also a guide hole at the bottom of the movable base;

A hoist is arranged just above the track; the hook of the hoist matches the guide hole;

A bottom frame is provided on both sides of the track; and guide rails are arranged on the bottom frame along the direction pointing to the track; the movable frame is movably installed on the bottom frame through the guide rails; A first drive device is arranged between the movable racks; a sliding rail arranged in the vertical direction is installed on the side of the movable frame close to the rail; the mechanical arm is movably installed on the sliding rail, and the robotic arm and the movable frame pass through the second drive is connected;

The mechanical arm includes a sliding plate matched with the sliding rail; a transmission rotating shaft is installed on the sliding plate; the axis of the transmission rotating shaft is parallel to the plane where the track is located, and the input end of the transmission rotating shaft is connected with the third driving device, and the output end is connected with the clamping device A cylinder for controlling the movement of the clamping device is installed on the clamping device; the clamping device is used in cooperation with the support rod.

Preferably, it also includes a controller; the controller controls the driving motor, the hoist, the first driving device, the second driving device, the third driving device and the cylinder; the tail of the chassis is flush with the tail of the rail.

Preferably, the movable base includes a pressure bearing seat; movable side plates are respectively provided on the left and right side ends of the pressure bearing seat; the positioning holes, the support rods and the guide holes are all arranged on the movable side plates; the pressure bearing seat is a grid-shaped flat plate structure.

Further, several connecting posts are fixed between the two movable side plates; several comb-shaped inserts are arranged on the top of the connecting posts; Bit installation.

Preferably, the support rod is a straight rod with a truncated cone-shaped structure at both ends; step blocks are respectively provided on the straight rod near the truncated cones at both ends, and the size of the step block is larger than the size of the positioning hole.

Further, the clamping device includes a cantilever link connected with the transmission shaft; a function table is installed at the end of the cantilever link; opposite extension plates are respectively arranged on the upper and lower sides of the front end surface of the function table; A guide shaft is also installed between them; a pressure plate that can move along the axial direction of the guide shaft is arranged on the guide shaft; the cylinder is installed on the extension plate, and the output end of the cylinder is fixed on the pressure plate.

Further, there are two guide shafts in total, and they are respectively arranged on the left and right sides of the epitaxial plate; the cylinder is arranged in the middle of the epitaxial plate.

Preferably, there are two pressing plates in total, and the two pressing plates are arranged opposite to each other in the vertical direction; a reinforcing boss is provided on the pressing plate; the guide shaft is arranged through the reinforcing boss, and a matching cylinder is also opened in the middle of the pressing plate The mounting hole used by the output end; the output end of the cylinder and the pressure plate are detachably connected.

Preferably, the base frame is an M-shaped base frame, and the guide rails are correspondingly arranged on both sides of the base frame; the movable frame is an L-shaped upright bent frame structure with reinforcing ribs; The motor on the movable frame, the motor is connected with the rollers arranged on both sides of the movable frame through the transmission shaft, and the size of the roller matches the size of the guide rail; the second driving device includes a motor arranged on the top of the movable frame, The motor is connected with the sprockets on both sides of the top of the movable frame through the rotating shaft. The lower bottom of the movable frame is also equipped with sprockets, and the middle of the chain is set around the two sprockets. upper and lower sides of the arm.

The invention also provides a method for using the automatic support system for the ejector rod of the multi-mode stacking frame of the gas-filled plate, comprising the following steps:

S1. After confirming that the whole system is fault-free and reset, turn on the controller and start running. At this time, the movable base with the pressure plate has entered the track;

S2. The drive motor at the controller controls the roller to drive the movable base to move to the end of the track, and the controller stops the movable base after it is determined that the movable base has moved to the designated station;

S3. The controller controls the second driving device to drive the mechanical arm to move up and down until the clamping device is opposite to the support rod;

S4, the controller controls the first drive device to drive the movable frame to approach the movable base, and determines that the controller controls the movable frame to stop the movement after the movable frame reaches the specified distance from the movable base;

S5. The controller controls the cylinder to move, and it is the clamping device that clamps the strut;

S6, the controller controls the first drive device to drive the movable frame away from the movable base, and determines that the movement of the movable frame is stopped by the controller after the movable frame reaches the specified distance from the movable base;

S7, the controller controls the third driving device to drive the transmission shaft to rotate until the axis of the support rod clamped by the clamping device is perpendicular to the ground position;

S8, the controller controls the first driving device to drive the movable frame to approach the movable base, until the support rod is aligned with the positioning hole, and then the support rod is put down and installed;

S9. After the controller resets the positions of each motor, the controller controls the crane to lift the latter movable base carrying the pressure plate through the guide holes, and align the positioning holes of the latter movable base with the corresponding support rods below, and then put it down to complete once stacking.

Beneficial effects of the present invention:

The present invention designs a set of support system capable of completing multiple actions based on the existing structure of the movable base for supporting the pressure plate. First, the track with rollers is used to assist the traveling of the movable base, and then the base frame and the corresponding drive are used. The device drives the movable frame, so that it can be close to and away from the movable base. The driving device on the movable frame drives the lifting and lowering of the mechanical arm, and further designs a machine with two degrees of freedom for rotation and clamping. Arm and clamping device, so that the system can complete the series of operations of removing, aligning, aligning and installing the strut placed on the movable base, and finally using the crane to lift it through the guide hole on the movable base and put it in the front On a movable base on which the support rod has been installed, the structure is simple, the operation is convenient and rapid, and it has a good effect on mass production of the pressurized plate.

Description of drawings

Fig. 1 is the structural representation that the track and the movable base cooperate in the present embodiment;

Fig. 2 is the exploded schematic diagram of the movable base in the present embodiment;

3 is a schematic diagram of the assembly positions of the rail, the chassis, the movable frame and the mechanical arm in the present embodiment;

Fig. 4 is the three-dimensional assembly schematic diagram of the bottom frame, the movable frame and the mechanical arm in the present embodiment;

FIG. 5 is a schematic diagram of the structure of the robot arm and the clamping device in this embodiment

Fig. 6 is the left side view of Fig. 5;

Fig. 7 is the top view of Fig. 5;

8 is a schematic structural diagram of the back of the functional table in this embodiment;

FIG. 9 is a schematic structural diagram of the support rod 2B in this embodiment;

Fig. 10 is the structural schematic diagram of the cooperation and installation and placement of the movable base and the support rod in this embodiment;

11 is a schematic diagram of the connection between the controller and each electrical control element in this embodiment;

Description of reference numerals: 1, track, 1A, roller, 2, movable base, 2A, positioning hole, 2B, strut, 2C, guide hole, 2D, pressure bearing seat, 2E, movable side plate, 2F, connecting column, 2G, insert, 3, chassis, 3A, guide rail, 4, movable frame, 4A, slide rail, 5, mechanical arm, 5A, slide plate, 5B, transmission shaft, 5C, third drive device, 6, Clamping device, 6A, cylinder, 6B, cantilever link, 6C, function table, 6D, epitaxial plate, 6E, guide shaft, 6F, pressure plate, 7, second drive device, 8, controller, 9, first drive device.

Detailed ways

The present invention is further introduced below in conjunction with the accompanying drawings and specific embodiments:

Example:

1 to 11, the present embodiment provides an automatic support system for the ejector rods of a multi-mode stacking frame with aerated plates, which includes a track 1 fixed on the ground; several pairs of rollers 1A are installed on the track 1; And the end of the roller 1A is provided with a drive motor; the movable base 2 is movably installed on the track 1 through the roller 1A; with reference to Fig. With the through-slot structure, after the movable base 2 is placed on the track, it is moved by the rotation of the roller 1A through the cooperation between the through-slot and the roller 1A.

The top of the movable base 2 is provided with two or more positioning holes 2A opened in the vertical direction, and a support rod 2B is detachably installed on the two side end faces of the movable base 2 opposite to each other; The size is matched with the size of the positioning hole 2A; the bottom of the movable base 2 is also provided with a guide hole 2C;

The movable base 2 includes a pressure bearing seat 2D; the left and right side ends of the pressure bearing seat 2D are respectively provided with movable side plates 2E; the positioning hole 2A, the support rod 2B and the guide hole 2C are all arranged on the movable side plate 2E; It is a grid-like plate structure.

A number of connecting columns 2F are also fixed between the two movable side plates 2E; a number of comb-shaped inserts 2G are arranged on the top of the connecting column 2F; the pressure-bearing column 2D is placed above the connecting column 2F, 2G for limit installation.

The support rod 2B is a straight rod with a truncated cone-shaped structure at both ends; step blocks are respectively provided on the straight rod near the truncated cones at both ends, and the size of the step block is larger than the size of the positioning hole 2A. In this embodiment, the structure of the support rod 2B can be referred to as shown in FIG. 9 , and the length of the top frustum is smaller than the length of the bottom frustum. When installing the two movable bases 2, the bottom frustum is inserted into the lower frustum to move In the positioning hole of the base, the top cone is inserted into the positioning hole of the upper movable base.

A hoist is provided just above the track 1; the hooks of the hoist match the guide holes 2C; in this embodiment, there are four hoist hooks corresponding to the guide holes 2C, which can be mounted on the hoisting belt After forming the movable base of the product, place it on top of another movable base.

Referring to FIG. 3 and FIG. 4 , a base frame 3 is provided on both sides of the track 1; and a guide rail 3A is provided on the base frame 3 along the direction pointing to the track; the movable frame 4 is movably moved through the guide rail 3A Installed on the base frame 3; a first drive device 9 is arranged between the movable frame 4 and the base frame 3; a slide rail 4A arranged in the vertical direction is installed on the side of the movable frame 4 close to the track 1; The mechanical arm 6 is movably installed on the sliding rail 4A, and the mechanical arm 5 is connected with the movable frame 4 through the second driving device 7; The rails 3A are correspondingly arranged on both sides of the bottom frame; the movable frame 4 is an L-shaped upright bent frame structure with reinforcing ribs; the first driving device 9 includes a motor fixed on the movable frame 4, and the motor passes through the transmission shaft. It is connected with the rollers arranged on both sides of the movable frame, and the size of the rollers matches the size of the guide rail 3A; the movable frame 4 drives the transmission shaft through the motor and further drives the rollers to rotate so as to realize the along The front and rear movement of the guide rail 3A; the second driving device 7 includes a motor arranged on the top of the movable frame 4, and the motor is connected with the sprockets on both sides of the top of the movable frame 4 through the rotating shaft, and the lower bottom of the movable frame is the same A sprocket is installed, and the middle of the chain is set around the two sprockets, and the two ends of the chain are respectively arranged on the upper and lower sides of the mechanical arm 6, which drives the sprocket to rotate through the rotation of the motor, so that the chain drives the mechanical arm to move. The up and down movement on the rack 4, and the mechanical arm 6 is also constrained to cooperate with the slide rail 4A to prevent it from shaking;

5 to 7, the robotic arm 5 includes a sliding plate 5A that is matched with the sliding rail 4A; a transmission shaft 5B is installed on the sliding plate 5A; the axis of the transmission shaft 5B is parallel to the plane of the track 1, and the transmission shaft The input end of 5B is connected with the third drive device 5C, and the output end is connected with the clamping device 6; the clamping device 6 is provided with a cylinder 6A that controls the movement of the clamping device 6; the clamping device 6 is connected to the support rod 2B Use in conjunction.

The clamping device 6 includes a cantilever link 6B connected with the transmission shaft 5B; a function table 6C is installed at the end of the cantilever link 6B; the upper and lower sides of the front end surface of the function table 6C are respectively provided with relative extension plates 6D; A guide shaft 6E is also installed between the two extension plates 6D; a pressure plate 6F that can move along the axial direction of the guide shaft 6E is arranged on the guide shaft 6E; the cylinder 6A is installed on the extension plate 6D, and the output of the cylinder 6A is The end is fixed on the pressure plate 6F.

The number of the guide shafts 6E is two, and they are respectively arranged on the left and right sides of the epitaxial plate 6D; the cylinder 6A is arranged in the middle of the epitaxial plate 6D.

There are two pressing plates 6F, and the two pressing plates 6F are arranged opposite to each other in the vertical direction; a reinforcing boss 6G is arranged on the pressing plate 6F; There are mounting holes for the output end of the cylinder 6A; the output end of the cylinder 6A and the pressure plate 6F are detachably connected.

The action of the mechanical arm 5 is realized by the third driving device 5C. The third driving device 5C in this embodiment is a step-by-step motor structure; 90° displacement on the end plane; thereby adjusting the orientation of the axis of the strut 2; in Figure 5, it can be seen that a limit block is also fixed on the left side of the mechanical arm 5, and the limit block is used to limit the clamping device 6 Therefore, a buffer pad is also provided at the position where the limit block is opposite to the clamping device;

The action of the clamping device 6 relies on two air cylinders 6A to drive the upper and lower pressing plates 6F respectively for clamping.

Also includes a controller 8; the controller 8 controls the drive motor, the hoist, the first drive device 9, the second drive device 7, the third drive device 5C and the cylinder 6A; in this embodiment, the controller 8 is a PLC The control cabinet of the control system; its connection structure can be referred to FIG. 11 ; there is a single corresponding relationship between the controller 8 and each controlled device, that is, each controlled element is only controlled by the controller.

The tail of the chassis 3 is flush with the tail of the track 1 .

The invention also provides a method for using the automatic support system for the ejector rod of the multi-mode stacking frame of the gas-filled plate, comprising the following steps:

S1. After confirming that the whole system is fault-free and reset, turn on the controller 8 and start running, at this time, the movable base 2 carrying the pressure plate has entered the track 1;

S2, the drive motor at the control roller 1A is driven by the controller to drive the movable base 2 to move to the tail of the track 1, and the controller 8 stops the movable base 2 after it is determined that the movable base 2 has moved to the designated station;

S3, the controller 8 controls the second driving device 7 to drive the mechanical arm 5 to move up and down until the clamping device 6 is opposite to the support rod 2B;

S4, the controller 8 controls the first drive device 9 to drive the movable frame 4 to be close to the movable base 2, and after determining that the movable frame 4 reaches the specified distance from the movable base, a controller controls the movable frame 4 to stop the movement;

S5, the controller 8 controls the cylinder 6A to move, and the clamping device 6 clamps the support rod 2B;

S6, the controller 8 controls the first drive device 9 to drive the movable frame 4 away from the movable base 2, and determines that the movement of the movable frame 4 is stopped by the controller 8 after the movable frame 4 reaches the specified distance from the movable base;

S7, the controller 8 controls the third driving device 5C to drive the transmission shaft 5B to rotate until the axis of the support rod 2B clamped by the clamping device 6 is perpendicular to the ground position;

S8, the controller 8 controls the first drive device 9 to drive the movable frame 4 to be close to the movable base 2, until the support rod 2B is aligned with the positioning hole 2A, and then the support rod 2B is put down and loaded;

S9. After the controller 8 resets the positions of each motor, it controls the crane to lift the latter movable base 2 carrying the pressure plate through the guide hole 2C and align the positioning hole of the latter movable base 2 with the corresponding support rod 2B below. Putting down completes a stacking.

Claims (10)

1. The utility model provides an automatic supporting system of ejector pin of multimode buttress frame of air entrainment board which characterized in that:

it comprises a track (1) fixed on the ground; a plurality of pairs of rollers (1A) are arranged on the track (1); and the end parts of the rollers (1A) are provided with driving motors; the movable base (2) is movably arranged on the track (1) through a roller (1A);

more than two positioning holes (2A) which are arranged along the vertical direction are formed in the top of the movable base (2), and supporting rods (2B) are respectively and detachably mounted on two side end faces of the movable base (2) which are opposite to each other; the end part of the supporting rod (2B) is matched with the size of the positioning hole (2A); the bottom of the movable base (2) is also provided with a guide hole (2C);

a crane is arranged right above the track (1); the lifting hook of the crane is matched with the guide hole (2C);

the two sides of the track (1) are provided with an underframe (3); and a guide rail (3A) is arranged on the bottom frame (3) along the direction pointing to the track; the movable frame (4) is movably arranged on the bottom frame (3) through the guide rail (3A); a first driving device (9) is arranged between the movable rack (4) and the bottom frame (3); a slide rail (4A) arranged along the vertical direction is arranged on one side, close to the track (1), of the movable rack (4); the mechanical arm (5) is movably arranged on the sliding rail (4A), and the mechanical arm (5) is connected with the movable rack (4) through a second driving device (7);

the mechanical arm (5) comprises a sliding plate (5A) matched with the sliding rail (4A); a transmission rotating shaft (5B) is arranged on the sliding plate (5A); the axis of the transmission rotating shaft (5B) is parallel to the plane of the track (1), the input end of the transmission rotating shaft (5B) is connected with the third driving device (5C), and the output end of the transmission rotating shaft (5B) is connected with the clamping device (6); an air cylinder (6A) for controlling the clamping device (6) to move is arranged on the clamping device (6); the clamping device (6) is matched with the supporting rod (2B) for use.

2. The automatic ejector rod supporting system of the multi-formwork stack frame of the gas-filled slab as claimed in claim 1, wherein: further comprising a controller (8); the controller (8) controls the driving motor, the crane, the first driving device (9), the second driving device (7), the third driving device (5C) and the air cylinder (6A);

the tail part of the underframe (3) is level with the tail part of the track (1).

3. The automatic ejector rod supporting system of the multi-formwork stack frame of the gas-filled slab as claimed in claim 1, wherein: the movable base (2) comprises a pressure bearing seat (2D); the left side end and the right side end of the pressure bearing seat (2D) are respectively provided with a movable side plate (2E); the positioning hole (2A), the support rod (2B) and the guide hole (2C) are all arranged on the movable side plate (2E); the pressure bearing seat (2D) is of a grid-shaped flat plate structure.

4. A top bar automatic support system of a multi-mode rack of gas-filled slabs according to claim 3, characterized in that: a plurality of connecting columns (2F) are also fixed between the two movable side plates (2E); a plurality of comb-shaped inserting strips (2G) are arranged at the upper top of the connecting column (2F); the pressure-bearing column (2D) is placed above the connecting column (2F), and is limited and mounted through the inserting strips (2G).

5. The automatic ejector rod supporting system of the multi-formwork stack frame of the gas-filled slab as claimed in claim 1, wherein: the strut (2B) is a straight rod with two ends forming a frustum-shaped structure; step fixture blocks are respectively arranged on the straight rod at positions close to the frustum at the two ends, and the size of each step fixture block is larger than that of the positioning hole (2A).

6. The automatic ejector rod supporting system of the multi-formwork stack frame of the gas-filled slab as claimed in claim 1, wherein: the clamping device (6) comprises a cantilever connecting rod (6B) connected with the transmission rotating shaft (5B); a functional table (6C) is arranged at the end part of the cantilever connecting rod (6B); the upper side and the lower side of the front end surface of the functional table (6C) are respectively provided with an opposite extension plate (6D); a guide shaft (6E) is also arranged between the two extension plates (6D); a pressing plate (6F) which can move along the axial direction of the guide shaft (6E) is arranged on the guide shaft (6E); the cylinder (6A) is arranged on the extension plate (6D), and the output end of the cylinder (6A) is fixed on the pressing plate (6F).

7. The automatic ejector rod supporting system of the multi-formwork stack frame of the gas-filled slab as claimed in claim 6, wherein: the number of the guide shafts (6E) is two, and the guide shafts are respectively arranged on the left side and the right side of the extension plate (6D); the cylinder (6A) is arranged in the middle of the extension plate (6D).

8. The automatic ejector rod supporting system of the multi-formwork stack frame of the gas-filled slab as claimed in claim 6, wherein: the number of the pressing plates (6F) is two, and the two pressing plates (6F) are arranged oppositely along the vertical direction; a reinforcing boss (6G) is arranged on the pressure plate (6F); the guide shaft (6E) penetrates through the reinforcing boss (6G) to be arranged, and the middle part of the pressing plate (6F) is also provided with a mounting hole matched with the output end of the air cylinder (6A) for use; the output end of the air cylinder (6A) is detachably connected with the pressure plate (6F).

9. The automatic ejector rod supporting system of the multi-die stack frame of the gas filling plate is characterized in that the bottom frame (3) is of an M-shaped structure, the guide rails (3A) are correspondingly arranged on two sides of the bottom frame (3), the movable frame (4) is of an L-type vertical bent frame structure with reinforcing ribs, the first driving device (9) comprises a motor fixed on the movable frame (9), the motor is connected with rollers arranged on two sides of the movable frame through a transmission shaft, the size of the rollers is matched with that of the guide rails (3A), the second driving device (7) comprises a motor arranged on the upper top of the movable frame (4), the motor is connected with chain wheels on two sides of the upper top of the movable frame (4) through a rotating shaft, the chain wheels are also arranged on the lower bottom of the movable frame, the middle of each chain is arranged around the two chain wheels, and two ends of each chain are respectively arranged on the upper side and the lower side of the mechanical arm (6).

10. The use method of the automatic support system of the mandril of the multi-module stack frame of the aerated panel according to any one of claims 1 to 9, is characterized in that: the method comprises the following steps:

s1, after determining that the whole system has no fault and resetting, opening the controller (8) to start running, wherein the movable base (2) loaded with the pressurizing plate enters the track (1);

s2, the controller controls a driving motor at the roller (1A) to drive the movable base (2) to move to the tail of the track (1), and the controller (8) stops the movable base (2) after the movable base (2) is determined to move to a specified station;

s3, the controller (8) controls the second driving device (7) to drive the mechanical arm (5) to move up and down until the clamping device (6) is opposite to the support rod (2B);

s4, the controller (8) controls the first driving device (9) to drive the movable rack (4) to be close to the movable base (2), and the controller controls the movable rack (4) to stop moving after the movable rack (4) reaches the specified distance from the movable base;

s5, the controller (8) controls the cylinder (6A) to move, and the clamping device (6) clamps the support rod (2B);

s6, the controller (8) controls the first driving device (9) to drive the movable rack (4) to be far away from the movable base (2), and the controller (8) stops the movement of the movable rack (4) after the movable rack (4) reaches the distance between the appointed position and the movable base;

s7, the controller (8) controls the third driving device (5C) to drive the transmission rotating shaft (5B) to rotate until the axis of the support rod (2B) clamped by the clamping device (6) is vertical to the ground;

s8, the controller (8) controls the first driving device (9) to drive the movable rack (4) to be close to the movable base (2), and the supporting rod (2B) is put down and loaded after the supporting rod (2B) is aligned with the positioning hole (2A);

s9, after the controller (8) resets the positions of the motors, the crane is controlled to lift the next movable base (2) with the pressurizing plate through the guide hole (2C) and put down after the positioning hole of the next movable base (2) is aligned with the corresponding supporting rod (2B) below, and then primary stacking is completed.

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