Intelligent automatic steel stacking system and stacking method thereof

Abstract

The invention discloses an intelligent automatic steel stacking system and a stacking method thereof, and relates to the technical field of stacking systems. The stacking device comprises a supporting roller way, a collecting line and a plurality of stacking devices, the supporting roller way is composed of a plurality of linearly-distributed sub roller ways, a material moving interval is formed between every two adjacent sub roller ways, the collecting line is composed of a plurality of linearly-distributed collecting grooves, and each collecting groove is composed of a bottom beam and a vertical beam arranged at the end, away from the supporting roller way, of the bottom beam. The novel stacking device is designed, workpieces are transferred between the roller way and the collecting line in an overturning mode, the transverse positions of the workpieces are controlled through the travelling crane and the ground rail, the vertical positions of the workpieces are controlled through the lifting beam with the lead screw mechanism serving as power, all functions are integrated, the structure is compact, and operation is convenient. Compared with an existing stacking device, the occupied space and area are greatly reduced, and system assembly and transportation of all parts are facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing systems, and in particular relates to an intelligent automatic steel palletizing system and a palletizing method thereof. Background Art

[0002] For the existing automated stacking system for steel workpieces, a roller conveyor of a certain length is arranged for supporting and positioning the workpieces before stacking. A collecting line composed of collecting troughs is arranged on one side of the roller conveyor, and two or more stacking devices are arranged on the other side of the roller conveyor. The stacking device includes a liftable frame, which is arranged on the side of the roller conveyor away from the collecting line. A sliding or telescopic beam is arranged on the frame, and a reversible grasping mechanism is assembled at the end of the beam through a vertical beam. The reversible mechanism can select the upper or lower surface of the steel for grasping, and is suitable for workpieces such as U-shaped steel that need to be stacked on the front and back sides.

[0003] The existing palletizing device will have the following problems:

[0004] 1. The overall structure of the palletizing device is a gantry-type structure arranged outside the collection line and roller table. The overall system occupies a large area and space, which wastes space excessively and affects the production line cost;

[0005] 2. In order to ensure that the workpieces can be easily removed after palletizing, the existing palletizing devices are all single-frame, and the contact area between the beam and the frame is small. The beam needs to cross the roller and the collection trough, which is far away from the frame. The gravity of the workpiece is directly applied to the end of the beam, which affects the stability and service life of the beam, and may affect the palletizing accuracy.

[0006] 3. The existing palletizing system generally arranges multiple palletizing devices linearly. Now, a linkage rod is arranged on the flipping mechanism between all the palletizing devices, and the grasping mechanism is arranged on the linkage rod. This can increase the number of grasping mechanisms and thus improve the grasping capacity. However, it is not conducive to its transformation, that is, the overall load capacity of the system is constant, which is not conducive to its transformation, and the scope of application is limited. Once a palletizing device is damaged, it will affect the normal use of the entire system. Summary of the invention

[0007] The purpose of the present invention is to provide an intelligent automatic steel stacking system, which integrates all functions into a whole with a compact structure. Compared with the existing stacking devices, it greatly reduces the space and area occupied, which is beneficial to the assembly of the system and the transportation of various components.

[0008] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0009] The present invention is an intelligent automatic steel stacking system, comprising a supporting roller, a collecting line and a plurality of stacking devices;

[0010] The support roller is composed of a plurality of linearly distributed sub-rollers, a material transfer interval is formed between two adjacent sub-rollers, the collection line is composed of a plurality of linearly distributed collection troughs, the collection trough is composed of a bottom beam and a vertical beam arranged at one end of the bottom beam away from the support roller, a plurality of the stacking devices are linearly arranged between the collection line and the support roller, and the plurality of the stacking devices are respectively arranged at a plurality of material transfer intervals and are staggered with the collection troughs;

[0011] The stacking device comprises a set of ground rails, a trolley, a turning table, a swing arm body, a lifting beam and a grabbing mechanism;

[0012] A set of ground rails is fixed on the ground with two ends facing the support roller and the collection line respectively, the trolley moves along the two ground rails, the turning platform is fixed on the top of the trolley, a slewing mechanism is fixed on the top of the turning platform, and one end of the swing arm body is fixed to the output end of the slewing mechanism;

[0013] The lifting beam is fixed at the other end of the swing arm body and is vertically distributed with the swing arm body. A screw mechanism is arranged inside the lifting beam. A sliding seat body is fixed on the moving end of the screw mechanism. A rotating oil cylinder is fixed on the outer side of the sliding seat body through an extension seat.

[0014] The grabbing mechanism comprises a reversing flip seat, which is connected to the output end of the rotating oil cylinder. A pressure plate is fixed to the reversing flip seat via a group of elastic mechanisms, and a group of electromagnets are fixed to a surface of the pressure plate away from the reversing flip seat.

[0015] Furthermore, the turning platform includes a base, which is fixed on the top of the trolley. A rectangular outer cylinder is fixed on the top of the base. The rotating mechanism is fixed on the top of the outer cylinder. Two rotating shafts are provided on the rotating mechanism, and the two rotating shafts are respectively arranged on both sides of the outer cylinder.

[0016] Furthermore, the front and rear sides of the outer cylinder are both fixed with limit seats, the upper surface of the limit seats is fixed with a pad, and a plurality of first reinforcing ribs are fixed between the limit seats and the base.

[0017] Furthermore, the swing arm body includes a group of side panels, one end of the two side panels are respectively fixed on two rotating shafts, a mounting seat is fixed between the other ends of the two side panels, and an inner support seat with an I-shaped structure is fixed between the two side panels. When the swing arm body is horizontally distributed on the front and rear sides of the turning table, the inner support seat is pressed on the top of the pad.

[0018] Furthermore, the lifting beam is a U-shaped steel structure, the lifting beam is fixed on the mounting seat with the open side away from the mounting seat, and a second reinforcing rib is fixed between the back side of the lifting beam and the mounting seat.

[0019] Furthermore, the screw mechanism includes a servo motor, a screw and a group of guide columns, the servo motor is fixed at one end of the lifting beam, a group of guide columns are fixed in the lifting beam, the screw is rotatably arranged in the lifting beam and one end is connected to the output end of the servo motor, the slide body is provided with a guide port that slides with the guide column, and the slide body is provided with a threaded port that is threadedly connected to the screw.

[0020] Furthermore, the rotating oil cylinder is a cylinder with double output ends, the rotating stroke of the rotating oil cylinder is 180°, the reversing and flipping seat is a U-shaped seat body, and the two side edges of the reversing and flipping seat are respectively fixed to the two rotating ends of the rotating oil cylinder.

[0021] Furthermore, a plurality of running wheels are provided on both sides of the trolley, and the running wheels roll along the ground rails. A driving device connected to the plurality of running wheels is provided inside the trolley.

[0022] Furthermore, the elastic mechanism comprises a telescopic tube, a spring is sleeved on the outside of the telescopic tube, and two ends of the telescopic tube and two ends of the spring are respectively fixed to the reversing flip seat and the pressure plate.

[0023] A stacking method of a steel material intelligent automatic stacking system of the present invention comprises the following steps:

[0024] SS01 For the palletizing of U-shaped steel materials on the collection line, the materials are divided into several columns along the width direction of the collection line and palletized one by one;

[0025] The initial state of the SS02 palletizing device is: the lifting beam is vertically distributed on the side of the turning table close to the support roller, the slide body and the grabbing mechanism are above the support roller and the electromagnet is facing downward;

[0026] SS03 When the steel is accurately moved onto the support roller, the driving trolley moves along the ground rail until the electromagnet moves directly above the steel;

[0027] SS04 controls the sliding seat and the grabbing mechanism to move downward through the screw mechanism, grabs the steel above through the electromagnet, and controls the rotary cylinder of all palletizing devices to rotate 180 degrees after grabbing, so that the electromagnet faces upward;

[0028] SS05 uses a slewing mechanism to control the swing arm to flip 180 degrees, thereby moving the steel into the collection tank. The trolley controls the position of the steel in the width direction of the collection tank, and the screw mechanism controls the height of the steel until it is placed at the bottom corner of the collection tank.

[0029] SS06 controls the palletizing device to reset to the state of SS02, except that the slide body and the gripping mechanism are under the support rollers and the electromagnet faces upwards;

[0030] SS07 When the steel is accurately moved onto the support roller, the driving trolley moves the electromagnet to the bottom of the steel, and the guide screw mechanism controls the slide body and the gripping mechanism to move upward, and the electromagnet grips the bottom surface of the steel, and the electromagnet is still facing upward;

[0031] SS08 uses the slewing mechanism to control the swing arm to flip 180 degrees to move the steel into the collection tank, controls the width position of the steel in the collection tank through the trolley, and controls the height of the steel through the lead screw mechanism until the steel is stacked above the previous steel.

[0032] SS09 Palletize the first row of steel materials in accordance with the methods of SS02-SS08, and then palletize the subsequent rows of steel materials. When palletizing, ensure that the steel materials in the latter row fit closely with the steel materials in the previous row.

[0033] The present invention has the following beneficial effects:

[0034] 1. The present invention designs a novel palletizing device, which is used for transferring workpieces between a roller and a collecting line in a flipping manner, controls the lateral position of the workpiece through a crane and a ground rail, and controls the vertical position of the workpiece through a lifting beam powered by a screw mechanism. All functions are integrated into a whole, and the structure is compact. Compared with the existing palletizing device, the space and area occupied are greatly reduced, which is beneficial to the assembly of the system and the transportation of various components.

[0035] 2. The present invention uses the ground rail and the crane as the lateral position control to improve the lateral movement stability of the turning table. The screw mechanism is used as the lifting power to improve the vertical stability of the workpiece, improve the stability of the workpiece during transfer, and improve the service life and stacking accuracy.

[0036] 3. The present invention designs a plurality of sub-rollers to form a support roller, and the number of sub-rollers can be installed adaptively according to the requirements of the production line. The same palletizing device is a single-body structure, and the number of sub-rollers can also be installed adaptively according to the requirements of the production line. It is not only convenient for the new assembly of palletizing systems of different lengths, but also the number of each device can be quickly adjusted during subsequent modifications, which can greatly improve the scope of application of the palletizing system.

[0037] 4. Through the design of the ground rail, the present invention can first position and install the ground rail when assembling the palletizing system, and then assemble the crane on the ground rail, which is convenient for the installation and modification of the palletizing system. At the same time, if one of the palletizing devices is damaged, a spare device can be quickly assembled into the system to improve maintenance efficiency.

[0038] 5. Through the design of the limit seat and the inner support seat, the limit seat can actively support the swing arm body and the lifting seat after the swing arm body is flipped, and the load is transferred to the limit seat, and the gravity load will not be transmitted to the rotating mechanism, thereby improving the position stability and service life of the rotating mechanism.

[0039] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 It is a structural schematic diagram of the palletizing device of the present invention from a front view perspective;

[0042] Figure 2 It is a structural schematic diagram of the palletizing device of the present invention from a rear view perspective;

[0043] Figure 3 It is a structural cross-sectional view of the palletizing device of the present invention;

[0044] Figure 4 It is a schematic diagram of the structure of the present invention when grabbing a workpiece from top to bottom;

[0045] Figure 5 This is a schematic diagram of the structure of the present invention after grabbing a workpiece from top to bottom and turning it 180 degrees;

[0046] Figure 6 It is a schematic diagram of the structure of the present invention when stacking in a collecting tank;

[0047] Figure 7 It is a schematic diagram of the structure of the present invention when grabbing a workpiece from bottom to top;

[0048] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0049] 1-palletizing device, 2-roller table, 3-collecting trough, 4-ground rail, 5-trolley, 6-turning table, 7-swing arm body, 8-lifting beam, 9-grabbing mechanism, 301-bottom beam, 302-vertical beam, 501-walking wheel, 601-slewing mechanism, 602-base, 603-outer column, 604-slewing axis, 605-limiting seat, 606-pad, 607-first reinforcing rib, 701-side plate, 702-mounting seat, 703-inner support seat, 801-servo motor, 802-screw, 803-guide column, 804-sliding seat body, 805-extension seat, 806-rotating cylinder, 807-second reinforcing rib, 901-reversing turning seat, 902-elastic mechanism, 903-pressing plate, 904-electromagnet, 905-telescopic tube, 906-spring. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] See also Figure 1-7 As shown, the present invention is an intelligent automatic stacking system for steel materials, comprising a supporting roller, a collecting line and a plurality of stacking devices 1;

[0052] The supporting roller is composed of a plurality of linearly distributed sub-rollers 2, a material transfer interval is formed between two adjacent sub-rollers 2, the collecting line is composed of a plurality of linearly distributed collecting troughs 3, the collecting trough 3 is composed of a bottom beam 301 and a vertical beam 302 arranged at one end of the bottom beam 301 away from the supporting roller, a plurality of stacking devices 1 are linearly arranged between the collecting line and the supporting roller, and the plurality of stacking devices 1 are respectively arranged at a plurality of material transfer intervals and are staggered with the collecting trough 3;

[0053] The palletizing device 1 comprises a set of ground rails 4, a trolley 5, a turning table 6, a swing arm body 7, a lifting beam 8 and a grabbing mechanism 9;

[0054] A set of ground rails 4 is fixed on the ground with two ends facing the support roller and the collection line respectively. The trolley 5 moves along the two ground rails 4. The turning platform 6 is fixed on the top of the trolley 5. A slewing mechanism 601 is fixed on the top of the turning platform 6. One end of the swing arm 7 is fixed to the output end of the slewing mechanism 601.

[0055] The lifting beam 8 is fixed at the other end of the swing arm body 7 and is vertically distributed with the swing arm body 7. A screw mechanism is provided in the lifting beam 8. A slide body 804 is fixed on the moving end of the screw mechanism. A rotating cylinder 806 is fixed on the outer side of the slide body 804 through an extension seat 805.

[0056] The gripping mechanism 9 includes a reversing flip seat 901 , which is connected to the output end of the rotating cylinder 806 . A pressure plate 903 is fixed to the reversing flip seat 901 via a group of elastic mechanisms 902 . A group of electromagnets 904 are fixed to a surface of the pressure plate 903 away from the reversing flip seat 901 .

[0057] Among them Figure 1-3 As shown, the turning table 6 includes a base 602, which is fixed on the top of the trolley 5. A rectangular outer cylinder 603 is fixed on the top of the base 602. A rotating mechanism 601 is fixed on the top inner side of the outer cylinder 603. Two rotating shafts 604 are provided on the rotating mechanism 601, and the two rotating shafts 604 are respectively arranged on both sides of the outer cylinder 603.

[0058] Among them Figure 1-3 As shown, the front and rear sides of the outer column 603 are fixed with limit seats 605 , the upper surface of the limit seats 605 is fixed with a pad 606 , and a plurality of first reinforcing ribs 607 are fixed between the limit seats 605 and the base 602 .

[0059] Among them Figure 1-3 As shown, the swing arm body 7 includes a group of side plates 701, one end of the two side plates 701 is respectively fixed on the two rotating shafts 604, a mounting seat 702 is fixed between the other ends of the two side plates 701, and an I-shaped inner support seat 703 is fixed between the two side plates 701. When the swing arm body 7 is horizontally distributed on the front and rear sides of the turning table 6, the inner support seat 703 is pressed on the top of the pad 606.

[0060] Among them Figure 1-3 As shown, the lifting beam 8 is a U-shaped steel structure. The lifting beam 8 is fixed on the mounting seat 702 with the open side away from the mounting seat 702 . A second reinforcing rib 807 is fixed between the back side of the lifting beam 8 and the mounting seat 702 .

[0061] Among them Figure 1-3 As shown, the screw mechanism includes a servo motor 801, a screw rod 802 and a group of guide pillars 803. The servo motor 801 is fixed at one end of the lifting beam 8, and a group of guide pillars 803 are fixed in the lifting beam 8. The screw rod 802 is rotatably arranged in the lifting beam 8 and one end is connected to the output end of the servo motor 801. The slide body 804 is provided with a guide opening that slides with the guide pillar 803, and the slide body 804 is provided with a threaded opening that is threadedly connected with the screw rod 802.

[0062] Among them Figure 1-2 As shown, the rotating cylinder 806 is a cylinder with double output ends, the rotating stroke of the rotating cylinder 806 is 180°, the reversing and flipping seat 901 is a U-shaped seat body, and the two side edges of the reversing and flipping seat 901 are respectively fixed to the two rotating ends of the rotating cylinder 806.

[0063] Among them Figure 1-7As shown, a plurality of running wheels 501 are provided on both sides of the trolley 5 , and the running wheels 501 roll along the ground rail 4 . A driving device connected to the plurality of running wheels 501 is provided inside the trolley 5 .

[0064] Among them Figure 1-3 As shown, the elastic mechanism 902 includes a telescopic tube 905 , and a spring 906 is sleeved on the outside of the telescopic tube 905 . Both ends of the telescopic tube 905 and both ends of the spring 906 are fixed to the reversing flip seat 901 and the pressure plate 903 respectively.

[0065] A stacking method of a steel material intelligent automatic stacking system of the present invention comprises the following steps:

[0066] SS01 For the palletizing of U-shaped steel materials on the collection line, the materials are divided into several columns along the width direction of the collection line and palletized one by one;

[0067] The initial state of the SS02 stacking device 1 is: the lifting beam 8 is vertically distributed on the side of the turning table 6 close to the supporting roller, the sliding seat body 804 and the grabbing mechanism 9 are above the supporting roller and the electromagnet 904 is facing downward;

[0068] SS03 After the steel is accurately moved onto the support roller, the driving trolley 5 moves along the ground rail 4 until the electromagnet 904 moves to the top of the steel;

[0069] SS04 controls the sliding seat body 804 and the grabbing mechanism 9 to move downward through the screw mechanism, grabs the steel above through the electromagnet 904, and after the grabbing is completed, controls the rotating cylinder 806 of all the stacking devices 1 to rotate 180 degrees, so that the electromagnet 904 faces upward;

[0070] SS05 controls the swing arm body 7 to flip 180 degrees through the rotary mechanism 601, so as to move the steel into the collecting tank 3, and controls the position of the steel in the width direction of the collecting tank 3 through the trolley 5, and controls the height of the steel through the screw mechanism until it is placed at the bottom corner of the collecting tank 3;

[0071] SS06 controls the palletizing device 1 to reset to the state of SS02, the difference being that the slide body 804 and the gripping mechanism 9 are located below the supporting roller and the electromagnet 904 faces upwards;

[0072] SS07 When the steel is accurately moved onto the support roller, the driving trolley 5 moves the electromagnet 904 to the bottom of the steel, and the guide screw mechanism controls the sliding seat body 804 and the grabbing mechanism 9 to move upward, and the electromagnet 904 grabs the bottom surface of the steel, and the electromagnet 904 is still facing upward;

[0073] SS08 controls the swing arm body 7 to flip 180 degrees through the rotary mechanism 601 to move the steel into the collecting tank 3, controls the position of the steel in the width direction in the collecting tank 3 through the trolley 5, and controls the height of the steel by the screw mechanism until the steel is stacked above the previous steel;

[0074] SS09 Palletize the first row of steel materials in accordance with the methods of SS02-SS08, and then palletize the subsequent rows of steel materials. When palletizing, ensure that the steel materials in the latter row fit closely with the steel materials in the previous row.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0076] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent automatic steel palletizing system, characterized by: It comprises a supporting roller, a collecting line and a plurality of palletizing devices (1); The support roller is composed of a plurality of linearly distributed sub-rollers (2), a material transfer interval is formed between two adjacent sub-rollers (2), the collection line is composed of a plurality of linearly distributed collection troughs (3), the collection trough (3) is composed of a bottom beam (301) and a vertical beam (302) arranged at one end of the bottom beam (301) away from the support roller, a plurality of the stacking devices (1) are linearly arranged between the collection line and the support roller, and the plurality of the stacking devices (1) are respectively arranged at a plurality of material transfer intervals and are offset from the collection troughs (3); The stacking device (1) comprises a set of ground rails (4), a trolley (5), a turning table (6), a swing arm body (7), a lifting beam (8) and a grabbing mechanism (9); A set of ground rails (4) are fixed on the ground with two ends facing the support roller and the collection line respectively; the trolley (5) moves along the two ground rails (4); the turning platform (6) is fixed on the top of the trolley (5); a slewing mechanism (601) is fixed on the top of the turning platform (6); and one end of the swing arm body (7) is fixed to the output end of the slewing mechanism (601); The lifting beam (8) is fixed to the other end of the swing arm body (7) and is vertically distributed with respect to the swing arm body (7). A screw mechanism is provided inside the lifting beam (8). A sliding seat body (804) is fixed to the moving end of the screw mechanism. A rotating oil cylinder (806) is fixed to the outer side of the sliding seat body (804) via an extension seat (805). The gripping mechanism (9) comprises a reversing flip seat (901), the reversing flip seat (901) being connected to the output end of the rotating oil cylinder (806), a pressing plate (903) being fixed to the reversing flip seat (901) via a group of elastic mechanisms (902), and a group of electromagnets (904) being fixed to a surface of the pressing plate (903) away from the reversing flip seat (901).

2. The intelligent automatic steel stacking system according to claim 1 is characterized in that: The turning platform (6) comprises a base (602), wherein the base (602) is fixed on the top of the trolley (5), a rectangular outer column (603) is fixed on the top of the base (602), the rotating mechanism (601) is fixed on the top of the outer column (603), and two rotating shafts (604) are provided on the rotating mechanism (601), and the two rotating shafts (604) are respectively arranged on both sides of the outer column (603).

3. The intelligent automatic steel stacking system according to claim 2 is characterized in that: The front and rear sides of the outer column (603) are both fixed with a limit seat (605), a pad (606) is fixed on the upper surface of the limit seat (605), and a plurality of first reinforcing ribs (607) are fixed between the limit seat (605) and the base (602).

4. The intelligent automatic steel stacking system according to claim 3 is characterized in that: The swing arm body (7) comprises a group of side plates (701), one end of each of the two side plates (701) is fixed on two rotating shafts (604), a mounting seat (702) is fixed between the other ends of the two side plates (701), and an inner support seat (703) of an I-shaped structure is fixed between the two side plates (701). When the swing arm body (7) is horizontally distributed on the front and rear sides of the turning platform (6), the inner support seat (703) is pressed on the top of the pad (606).

5. The intelligent automatic steel stacking system according to claim 4 is characterized in that: The lifting beam (8) is a U-shaped steel structure, the lifting beam (8) is fixed on the mounting seat (702) with the open side away from the mounting seat (702), and a second reinforcing rib (807) is fixed between the back side of the lifting beam (8) and the mounting seat (702).

6. The intelligent automatic steel stacking system according to claim 1 is characterized in that: The screw mechanism comprises a servo motor (801), a screw rod (802) and a group of guide pillars (803); the servo motor (801) is fixed at one end of a lifting beam (8); a group of guide pillars (803) are fixed in the lifting beam (8); the screw rod (802) is rotatably arranged in the lifting beam (8) and one end is connected to the output end of the servo motor (801); the slide seat body (804) is provided with a guide opening that slidably cooperates with the guide pillar (803); and the slide seat body (804) is provided with a threaded opening that is threadedly connected to the screw rod (802).

7. The intelligent automatic steel palletizing system according to claim 1 is characterized in that: The rotating oil cylinder (806) is a cylinder with two output ends. The rotating stroke of the rotating oil cylinder (806) is 180°. The reversing and flipping seat (901) is a U-shaped seat body. The two side edges of the reversing and flipping seat (901) are respectively fixed to the two rotating ends of the rotating oil cylinder (806).

8. The intelligent automatic steel palletizing system according to claim 1 is characterized in that: A plurality of running wheels (501) are provided on both sides of the trolley (5), and the running wheels (501) roll along the ground rails (4). A driving device connected to the plurality of running wheels (501) is provided inside the trolley (5).

9. The intelligent automatic steel stacking system according to claim 1, characterized in that: The elastic mechanism (902) comprises a telescopic tube (905), the exterior of the telescopic tube (905) is covered with a spring (906), and both ends of the telescopic tube (905) and the spring (906) are respectively fixed to the reversing flip seat (901) and the pressure plate (903).

10. The stacking method of the steel material intelligent automatic stacking system according to any one of claims 1 to 9, characterized in that: The following steps are involved: SS01 For the palletizing of U-shaped steel materials on the collection line, the materials are divided into several columns along the width direction of the collection line and palletized one by one; The initial state of the SS02 palletizing device (1) is as follows: the lifting beam (8) is vertically distributed on the side of the turning table (6) close to the supporting roller, the sliding seat body (804) and the grabbing mechanism (9) are above the supporting roller and the electromagnet (904) is facing downward; SS03 When the steel is accurately moved onto the support roller, the driving trolley (5) moves along the ground rail (4) until the electromagnet (904) moves to the top of the steel; SS04 controls the sliding seat body (804) and the grasping mechanism (9) to move downward through the screw mechanism, and grasps the steel above through the electromagnet (904). After grasping, the rotating cylinder (806) of all the stacking devices (1) is controlled to rotate 180 degrees so that the electromagnet (904) faces upward; SS05 controls the swing arm body (7) to flip 180 degrees through the rotary mechanism (601), thereby moving the steel into the collecting tank (3), controls the position of the steel in the width direction of the collecting tank (3) through the trolley (5), and controls the height of the steel to be placed at the bottom corner of the collecting tank (3) by controlling the lead screw mechanism; SS06 controls the palletizing device (1) to reset to the state of SS02, except that the slide body (804) and the gripping mechanism (9) are located below the support roller and the electromagnet (904) faces upwards; SS07 When the steel is accurately moved onto the support roller, the driving trolley (5) moves the electromagnet (904) to the bottom of the steel, and the guide screw mechanism controls the slide body (804) and the gripping mechanism (9) to move upward, and the electromagnet (904) grips the bottom surface of the steel, and the electromagnet (904) is still facing upward; SS08 controls the swing arm body (7) to flip 180 degrees through the rotary mechanism (601) to move the steel into the collecting tank (3), controls the position of the steel in the width direction of the collecting tank (3) through the trolley (5), and controls the height of the steel by controlling the lead screw mechanism until the steel is stacked above the previous steel; SS09 Palletize the first row of steel materials in accordance with the methods of SS02-SS08, and then palletize the subsequent rows of steel materials. When palletizing, ensure that the steel materials in the latter row fit closely with the steel materials in the previous row.

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