Steel intelligent automatic stacking system and stacking method thereof

Abstract

This invention discloses an intelligent automatic steel palletizing system and method, belonging to the technical field of palletizing systems. The invention includes a support roller conveyor, a collection line, and several palletizing devices. The support roller conveyor consists of several linearly distributed sub-rollers, with material transfer intervals formed between adjacent sub-rollers. The collection line consists of several linearly distributed collection troughs, each consisting of a bottom beam and a vertical beam positioned at the end of the bottom beam away from the support roller conveyor. This invention, through the design of novel palletizing devices, uses a flipping mechanism for transferring workpieces between the roller conveyor and the collection line, a traveling crane and ground rail for controlling the lateral position of the workpieces, and a lifting beam powered by a screw mechanism for controlling the vertical position of the workpieces. All functions are integrated into a compact structure, significantly reducing the floor space and area required compared to existing palletizing devices, facilitating system assembly and the transportation of components.

Description

Technical Field

[0001] This invention belongs to the technical field of palletizing systems, and in particular relates to an intelligent automatic palletizing system for steel and its palletizing method. Background Technology

[0002] For existing automated palletizing systems for steel workpieces, a roller conveyor of a certain length is arranged for support and positioning of the workpieces before palletizing. A collection line consisting of collection troughs is set on one side of the roller conveyor, and two or more palletizing devices are set on the other side of the roller conveyor. The palletizing device includes a liftable frame, which is set on the side of the roller conveyor away from the collection line. A sliding or telescopic crossbeam is arranged on the frame, and a flip-up gripping mechanism is assembled at the end of the crossbeam via a vertical beam. The flip-up function is to select the upper or lower surface of the steel for gripping, which is suitable for workpieces such as U-shaped steel that need to be stacked on both sides.

[0003] Existing palletizing equipment suffers from the following problems:

[0004] 1. The palletizing device is arranged in a gantry-type structure outside the collection line and roller conveyor. 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 devices with a small contact area between the crossbeam and the frame. The crossbeam needs to cross the roller conveyor and the collection trough, which is far from the frame. The weight of the workpiece is directly applied to the end of the crossbeam, which affects the stability and service life of the crossbeam, and may affect the palletizing accuracy.

[0006] 3. Existing palletizing systems typically have multiple palletizing devices arranged linearly. Currently, linkage rods are placed on the flipping mechanism between all palletizing devices, and the gripping mechanism is placed on the linkage rods. This can increase the number of gripping mechanisms and thus increase the gripping capacity. However, it is not conducive to its modification. That is, the overall load capacity of the system is constant, which is not conducive to its modification. Its applicability is limited, and once a palletizing device is damaged, it will affect the normal use of the entire system. Summary of the Invention

[0007] The purpose of this invention is to provide an intelligent automatic steel palletizing system. By designing a novel palletizing device, a flipping mechanism is used for transferring workpieces between the roller conveyor and the collection line. A traveling crane and a ground rail are used to control the lateral position of the workpieces. A lifting beam powered by a screw mechanism is used to control the vertical position of the workpieces. All functions are integrated into a single, compact structure. Compared with existing palletizing devices, this greatly reduces the floor space and area required, facilitating system assembly and the transportation of components.

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

[0009] This invention relates to an intelligent automatic steel palletizing system, comprising a support roller conveyor, a collection line, and several palletizing devices;

[0010] The support roller conveyor is composed of several linearly distributed sub-roller conveyors, with a material transfer interval formed between two adjacent sub-roller conveyors. The collection line is composed of several linearly distributed collection troughs, each collection trough consisting of a bottom beam and a vertical beam located at the end of the bottom beam away from the support roller conveyor. Several stacking devices are linearly arranged between the collection line and the support roller conveyor, and the stacking devices are respectively located at several material transfer intervals and are offset from the collection troughs.

[0011] The palletizing device includes a set of ground rails, a trolley, a tilting table, a swing arm, a lifting beam, and a gripping mechanism.

[0012] A set of ground rails is fixed to the ground with both ends facing the support roller conveyor and the collection line respectively. The trolley moves along the two ground rails. The tilting table is fixed to the top of the trolley. A rotary mechanism is fixed to the top of the tilting table. One end of the swing arm is fixed to the output end of the rotary mechanism.

[0013] The lifting beam is fixed to the other end of the swing arm and is distributed perpendicularly to the swing arm. The lifting beam is equipped with a screw mechanism. A sliding body is fixed on the moving end of the screw mechanism. A rotary oil cylinder is fixed to the outside of the sliding body through an extension seat.

[0014] The gripping mechanism includes a reversing and flipping seat, which is connected to the output end of a rotary cylinder. A pressure plate is fixed on the reversing and flipping seat by a set of elastic mechanisms, and a set of electromagnets is fixed on the surface of the pressure plate away from the reversing and flipping seat.

[0015] Furthermore, the tilting table includes a base, which is fixed to the top of the trolley. A rectangular outer column is fixed to the top of the base. The slewing mechanism is fixed to the top of the outer column. The slewing mechanism is provided with two slewing shafts, which are respectively arranged on both sides of the outer column.

[0016] Furthermore, a limiting seat is fixed to both the front and rear sides of the outer column, a pad is fixed to the upper surface of the limiting seat, and several first reinforcing ribs are fixed between the limiting seat and the base.

[0017] Furthermore, the swing arm body includes a set of side plates, one end of each of the two side plates is fixed on two rotating shafts, a mounting seat is fixed between the other ends of the two side plates, and an I-shaped inner support seat is fixed between the two side plates. When the swing arm body is horizontally distributed on the front and rear sides of the flipping table, the inner support seat presses 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 base with its open side away from the mounting base, and a second reinforcing rib is fixed between the back of the lifting beam and the mounting base.

[0019] Furthermore, the lead screw mechanism includes a servo motor, a screw, and a set of guide columns. The servo motor is fixed at one end of the lifting beam, the set of guide columns is fixed inside the lifting beam, the screw is rotatably disposed inside 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 columns, and the slide body is provided with a threaded port that is threadedly connected to the screw.

[0020] Furthermore, the rotary cylinder is a dual-output cylinder with a rotation stroke of 180°, and the reversing and tilting seat is a U-shaped seat, with its two sides respectively fixed to the two rotating ends of the rotary cylinder.

[0021] Furthermore, the trolley is equipped with several wheels on both sides, which roll along the ground rail, and the trolley is equipped with a drive device connected to the wheels.

[0022] Furthermore, the elastic mechanism includes a telescopic tube, with a spring sleeved on the outside of the telescopic tube, and both ends of the telescopic tube and both ends of the spring are fixed to the reversing and flipping seat and the pressure plate, respectively.

[0023] The present invention discloses a palletizing method for an intelligent automatic steel palletizing system, comprising the following steps:

[0024] SS01 is designed for stacking U-shaped steel materials on a collection line. The material is divided into several columns along the width of the collection line and stacked sequentially, one column at a time.

[0025] The initial state of the SS02 palletizing device is as follows: the lifting beams are vertically distributed on the side of the turning table near the support roller conveyor, and the slide body and gripping mechanism are above the support roller conveyor with the electromagnets facing downwards;

[0026] SS03 After the steel is precisely moved onto the support roller conveyor, the drive trolley moves along the ground rail until the electromagnet moves directly above the steel.

[0027] SS04 controls the slide body and gripping mechanism to move downward through the lead screw mechanism, and grips the steel above the electromagnet. After the gripping is completed, it controls the rotating cylinders of all stacking devices to rotate 180 degrees so that the electromagnets face upward.

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

[0029] SS06 controls the palletizing device to reset to the state of SS02, the difference being that the slide body and gripping mechanism are located below the support roller and the electromagnet is facing upward;

[0030] SS07 After the steel is precisely moved onto the support roller conveyor, the drive trolley moves the electromagnet directly below the steel. The screw mechanism controls the slide body and gripping mechanism to move upward, and the electromagnet grips the bottom of the steel while the electromagnet remains facing upward.

[0031] SS08 uses a rotary mechanism to control the swing arm to rotate 180 degrees to move the steel into the collection trough. The trolley controls the position of the steel in the width direction in the collection trough, and the screw mechanism controls the height of the steel until the steel is stacked on top of the previous steel.

[0032] SS09 Stack the first column of steel in sequence according to the methods of SS02-SS08, and then stack the subsequent columns of steel. When stacking, ensure that the steel in the next column is in close contact with the steel in the previous column.

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

[0034] 1. This invention designs a novel palletizing device that uses a flipping mechanism for transferring workpieces between roller conveyors and collection lines, uses a trolley and ground rail for controlling the lateral position of the workpieces, and uses a lead screw mechanism as the power source for the lifting beam to control the vertical position of the workpieces. All functions are integrated into a single, compact structure. Compared with existing palletizing devices, this invention greatly reduces the floor space and area required, facilitating system assembly and the transportation of components.

[0035] 2. This invention uses ground rails and trolleys for lateral position control, which can improve the stability of the tilting table in lateral movement. It uses a lead screw mechanism for lifting power, which can improve the stability of the workpiece in the vertical direction, improve the stability of the workpiece during transfer, and improve the service life and stacking accuracy.

[0036] 3. This invention designs multiple sub-rollers to form a support roller conveyor, which can be installed in an adaptable manner according to the production line requirements. Similarly, the palletizing device is a single-unit structure, which can also be installed in an adaptable manner according to the production line requirements. This not only facilitates the new assembly of palletizing systems of different lengths, but also allows for quick adjustment of the number of each device during subsequent modifications, which greatly improves the applicability of the palletizing system.

[0037] 4. Through the design of the ground rail, the present invention allows for the positioning and installation of the ground rail during the assembly of the palletizing system, and then the trolley is assembled on the ground rail. This facilitates the installation, assembly 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, improving maintenance efficiency.

[0038] 5. Through the design of the limiting seat and the inner support seat, the limiting seat can actively support the swing arm and the lifting seat after the swing arm body is flipped, and transfer the load to the limiting seat. It will not transmit the gravity load to the slewing mechanism, thereby improving the positional stability and service life of the slewing mechanism.

[0039] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a structural schematic diagram of the palletizing device of the present invention from a frontal view.

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

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

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

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

[0046] Figure 6 This is a schematic diagram of the structure of the present invention during stacking in the collection trough;

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

[0048] The attached diagram lists the components represented by each number as follows:

[0049] 1-Palletizing device, 2-Roller conveyor, 3-Collection trough, 4-Ground rail, 5-Trolley, 6-Tilting table, 7-Swing arm body, 8-Lifting beam, 9-Gripping mechanism, 301-Bottom beam, 302-Vertical beam, 501-Walking wheel, 601-Rotation mechanism, 602-Base, 603-Outer column, 604-Rotation shaft, 605-Limit seat, 606-Pad plate, 607-First reinforcing rib, 701-Side plate, 702-Mounting seat, 703-Inner support seat, 801-Servo motor, 802-Screw, 803-Guide column, 804-Slide body, 805-Extension seat, 806-Rotating cylinder, 807-Second reinforcing rib, 901-Reversing tilting seat, 902-Elastic mechanism, 903-Pressure plate, 904-Electromagnet, 905-Telescopic tube, 906-Spring. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Please see Figure 1-7 As shown, the present invention is an intelligent automatic steel palletizing system, including a support roller conveyor, a collection line and several palletizing devices 1;

[0052] The support roller conveyor is composed of several linearly distributed sub-roller conveyors 2, with material transfer intervals formed between adjacent sub-roller conveyors 2. The collection line is composed of several linearly distributed collection troughs 3, which are composed of a bottom beam 301 and a vertical beam 302 located at the end of the bottom beam 301 away from the support roller conveyor. Several stacking devices 1 are linearly arranged between the collection line and the support roller conveyor, and the stacking devices 1 are respectively located at several material transfer intervals and are offset from the collection troughs 3.

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

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

[0055] The lifting beam 8 is fixed at the other end of the swing arm body 7 and is distributed perpendicularly to the swing arm body 7. The lifting beam 8 is equipped with a screw mechanism. A slide body 804 is fixed on the moving end of the screw mechanism. A rotary oil cylinder 806 is fixed on the outside of the slide body 804 through an extension seat 805.

[0056] The gripping mechanism 9 includes a reversing and flipping seat 901, which is connected to the output end of the rotary cylinder 806. A pressure plate 903 is fixed on the reversing and flipping seat 901 by a set of elastic mechanisms 902. A set of electromagnets 904 are fixed on a surface of the pressure plate 903 away from the reversing and flipping seat 901.

[0057] Among them, such as Figure 1-3 As shown, the tilting table 6 includes a base 602, which is fixed to the top of the trolley 5. A rectangular outer column 603 is fixed to the top of the base 602. A rotary mechanism 601 is fixed to the top of the outer column 603. The rotary mechanism 601 is provided with two rotary shafts 604, which are respectively arranged on both sides of the outer column 603.

[0058] Among them, such as Figure 1-3 As shown, a limiting seat 605 is fixed on both the front and rear sides of the outer column 603. A pad 606 is fixed on the upper surface of the limiting seat 605. Several first reinforcing ribs 607 are fixed between the limiting seat 605 and the base 602.

[0059] Among them, such as Figure 1-3 As shown, the swing arm body 7 includes a set of side plates 701. One end of each side plate 701 is fixed on two rotating shafts 604 respectively. A mounting base 702 is fixed between the other ends of the side plates 701. An I-shaped inner support 703 is fixed between the side plates 701. When the swing arm body 7 is horizontally distributed on the front and rear sides of the flipping table 6, the inner support 703 presses on the top of the pad 606.

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

[0061] Among them, such as Figure 1-3 As shown, the lead screw mechanism includes a servo motor 801, a screw 802, and a set of guide columns 803. The servo motor 801 is fixed at one end of the lifting beam 8, and the set of guide columns 803 is fixed inside the lifting beam 8. The screw 802 is rotatably disposed inside 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 port that slides with the guide column 803, and the slide body 804 is provided with a threaded port that is threadedly connected to the screw 802.

[0062] Among them, such as Figure 1-2 As shown, the rotary cylinder 806 is a dual-output cylinder with a rotation stroke of 180°. The reversing and tilting seat 901 is a U-shaped seat, and the two sides of the reversing and tilting seat 901 are fixed to the two rotating ends of the rotary cylinder 806 respectively.

[0063] Among them, such as Figure 1-7As shown, the trolley 5 has several wheels 501 on both sides, which roll along the ground rail 4. The trolley 5 has a drive device connected to the wheels 501.

[0064] Among them, such as 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. The two ends of the telescopic tube 905 and the two ends of the spring 906 are respectively fixed to the reversing and flipping seat 901 and the pressure plate 903.

[0065] The present invention discloses a palletizing method for an intelligent automatic steel palletizing system, comprising the following steps:

[0066] SS01 is designed for stacking U-shaped steel materials on a collection line. The material is divided into several columns along the width of the collection line and stacked sequentially, one column at a time.

[0067] 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 near the support roller conveyor, the slide body 804 and the gripping mechanism 9 are above the support roller conveyor and the electromagnet 904 is facing downwards;

[0068] SS03 After the steel is precisely moved onto the support roller conveyor, the drive trolley 5 moves along the ground rail 4 until the electromagnet 904 moves directly above the steel.

[0069] SS04 controls the slide body 804 and the gripping mechanism 9 to move downward through the lead screw mechanism, and grips the steel above the electromagnet 904. After the gripping is completed, it 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 7 to rotate 180 degrees through the rotary mechanism 601, thereby moving the steel into the collection tank 3. The position of the steel in the width direction in the collection tank 3 is controlled by the trolley 5, and the height of the steel is controlled by the screw mechanism until it is placed at the bottom corner of the collection 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 support roller and the electromagnet 904 is facing upward;

[0072] SS07 After the steel is precisely moved onto the support roller conveyor, the drive trolley 5 moves the electromagnet 904 directly below the steel. The screw mechanism controls the slide body 804 and the gripping mechanism 9 to move upward. The electromagnet 904 grips the bottom of the steel, and the electromagnet 904 remains facing upward.

[0073] SS08 controls the swing arm 7 to rotate 180 degrees through the rotary mechanism 601 to move the steel into the collection trough 3. The position of the steel in the width direction in the collection trough 3 is controlled by the trolley 5. The height of the steel is controlled by the screw mechanism until the steel is stacked on top of the previous steel.

[0074] SS09 Stack the first column of steel in sequence according to the methods of SS02-SS08, and then stack the subsequent columns of steel. When stacking, ensure that the steel in the next column is in close contact with the steel in the previous column.

[0075] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0076] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A smart automatic steel palletizing system, characterized in that: Includes a support roller conveyor, a collection line and several palletizing devices (1); The support roller conveyor is composed of several linearly distributed sub-roller conveyors (2), and a material transfer interval is formed between two adjacent sub-roller conveyors (2). The collection line is composed of several linearly distributed collection troughs (3). The collection trough (3) is composed of a bottom beam (301) and a vertical beam (302) set at one end of the bottom beam (301) away from the support roller conveyor. Several stacking devices (1) are linearly arranged between the collection line and the support roller conveyor. Several stacking devices (1) are respectively set at several material transfer intervals and are offset from the collection troughs (3). The palletizing device (1) includes a set of ground rails (4), a trolley (5), a turning table (6), a swing arm (7), a lifting beam (8), and a gripping mechanism (9). A set of the ground rails (4) are fixed on the ground and their two ends face the support roller and the collection line respectively. The trolley (5) moves along the two ground rails (4). The flipping table (6) is fixed on the top of the trolley (5). A rotary mechanism (601) is fixed on the top of the flipping table (6). One end of the swing arm (7) is fixed to the output end of the rotary mechanism (601). The lifting beam (8) is fixed at the other end of the swing arm body (7) and is distributed perpendicularly to the swing arm body (7). The lifting beam (8) is provided with a screw mechanism. A sliding body (804) is fixed on the moving end of the screw mechanism. A rotary cylinder (806) is fixed on the outside of the sliding body (804) through an extension seat (805). The gripping mechanism (9) includes a reversing and flipping seat (901), which is connected to the output end of the rotary cylinder (806). A pressure plate (903) is fixed on the reversing and flipping seat (901) by a set of elastic mechanisms (902). A set of electromagnets (904) is fixed on the surface of the pressure plate (903) away from the reversing and flipping seat (901). The tilting table (6) includes a base (602), which is fixed to the top of the trolley (5). A rectangular outer column (603) is fixed to the top of the base (602). The rotary mechanism (601) is fixed to the top of the outer column (603). The rotary mechanism (601) is provided with two rotary shafts (604), which are respectively arranged on both sides of the outer column (603). The outer column (603) is fixed with a limiting seat (605) on both the front and rear sides. A pad (606) is fixed on the upper surface of the limiting seat (605). Several first reinforcing ribs (607) are fixed between the limiting seat (605) and the base (602). The swing arm body (7) includes a set of side plates (701). One end of each of the two side plates (701) is fixed on two rotating shafts (604). A mounting base (702) is fixed between the other ends of the two side plates (701). An I-shaped inner support (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 flipping table (6), the inner support (703) presses on the top of the pad (606). The slide body (804) and the gripping mechanism (9) are controlled to move downward by the screw mechanism, and the electromagnet (904) grips the steel above. After the gripping is completed, the rotating cylinders (806) of all stacking devices (1) are controlled to rotate 180 degrees so that the electromagnet (904) faces upward. After the steel is precisely moved onto the support roller conveyor, the drive trolley (5) moves the electromagnet (904) directly below the steel. The slide body (804) and the gripping mechanism (9) are controlled to move upward through the screw mechanism. The bottom surface of the steel is gripped by the electromagnet (904), and the electromagnet (904) is still facing upward.

2. The steel material intelligent automatic stacking system according to claim 1, characterized in that, The lifting beam (8) is a U-shaped steel structure. The lifting beam (8) is fixed on the mounting base (702) and the open side is away from the mounting base (702). A second reinforcing rib (807) is fixed between the back of the lifting beam (8) and the mounting base (702).

3. The steel material intelligent automatic stacking system according to claim 1, characterized in that, The lead screw mechanism includes a servo motor (801), a screw (802), and a set of guide columns (803). The servo motor (801) is fixed at one end of the lifting beam (8), and the set of guide columns (803) is fixed inside the lifting beam (8). The screw (802) is rotatably disposed inside 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 port that slides with the guide column (803), and the slide body (804) is provided with a threaded port that is threadedly connected to the screw (802).

4. The intelligent automatic steel palletizing system according to claim 1, characterized in that, The rotary cylinder (806) is a cylinder with two output ends. The rotation stroke of the rotary cylinder (806) is 180°. The reversing and flipping seat (901) is a U-shaped seat. The two sides of the reversing and flipping seat (901) are respectively fixed to the two rotating ends of the rotary cylinder (806).

5. The intelligent automatic steel palletizing system according to claim 1, characterized in that, The trolley (5) is provided with several wheels (501) on both sides. The wheels (501) roll along the ground rail (4). The trolley (5) is provided with a drive device connected to the wheels (501).

6. The intelligent automatic steel palletizing system according to claim 1, characterized in that, The elastic mechanism (902) includes a telescopic tube (905), and a spring (906) is sleeved on the outside of the telescopic tube (905). The two ends of the telescopic tube (905) and the two ends of the spring (906) are respectively fixed to the reversing seat (901) and the pressure plate (903).

7. A palletizing method for a steel intelligent automatic palletizing system according to any one of claims 1-6, characterized in that, Includes the following steps: SS01 is designed for stacking U-shaped steel materials on a collection line. The material is divided into several columns along the width of the collection line and stacked sequentially, one column at a time. 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) near the support roller, the slide body (804) and the gripping mechanism (9) are above the support roller and the electromagnet (904) is facing down; SS03 After the steel is precisely moved onto the support roller conveyor, the drive trolley (5) moves along the ground rail (4) until the electromagnet (904) moves directly above the steel; SS04 controls the slide body (804) and gripping mechanism (9) to move downward through the screw mechanism, and grips the steel above the electromagnet (904) through the electromagnet. After the gripping is completed, it controls the rotating cylinder (806) of all stacking devices (1) to rotate 180 degrees so that the electromagnet (904) faces upward. SS05 controls the swing arm (7) to rotate 180 degrees through the rotary mechanism (601), thereby moving the steel into the collection trough (3). The position of the steel in the width direction in the collection trough (3) is controlled by the trolley (5), and the height of the steel is controlled by the screw mechanism until it is placed at the bottom corner of the collection trough (3). 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 support roller and the electromagnet (904) is facing upward; SS07 After the steel is precisely moved onto the support roller conveyor, the drive trolley (5) moves the electromagnet (904) directly below the steel. The slide body (804) and the gripping mechanism (9) are controlled to move upward through the screw mechanism. The bottom surface of the steel is gripped by the electromagnet (904), and the electromagnet (904) is still facing upward. SS08 controls the swing arm (7) to rotate 180 degrees through the rotary mechanism (601) to move the steel into the collection trough (3), controls the position of the steel in the width direction in the collection trough (3) through the trolley (5), and controls the height of the steel through the screw mechanism until the steel is stacked above the previous steel. SS09 Stack the first column of steel in sequence according to the methods of SS02-SS08, and then stack the subsequent columns of steel. When stacking, ensure that the steel in the next column is in close contact with the steel in the previous column.

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