Automatic angle steel hanging production line and method

Abstract

The invention belongs to the field of angle steel galvanization, and relates to an automatic angle steel hanging production line and method. The automatic hanging piece production line comprises a hanging frame storage table, a hanging piece storage frame, a three-axis mechanical arm, an angle steel storage table and a magnetic attraction mechanical arm, the self-locking hanging frame comprises a fixed hanging frame and a movable blocking frame, lifting lugs are welded to the two sides of the upper surface of a fixed hanging frame cross beam, a sliding guide column structure is welded to one side of each lifting lug, and a connecting column is welded to the middle of the upper surface of the fixed hanging frame cross beam. The lower surface of the movable blocking frame beam is welded with an angle steel blocking column, two ends of the angle steel blocking column are provided with sliding guide holes, the sliding guide column penetrates through the sliding guide holes, the middle of the upper surface of the movable blocking frame beam is welded with a pin hole column, and the upper portion of the pin hole column is provided with a first pin hole and the lower portion of the pin hole column is provided with a second pin hole. According to the automatic hanging method, the angle steel is hung on the self-locking hanging frame through the three-axis mechanical arm, and the angle steel is locked and limited through the self-locking hanging frame. The angle steel anti-falling self-locking device achieves angle steel anti-falling self-locking, self-locking can be conveniently relieved after galvanizing, and the angle steel hot galvanizing production process is more automatic and intelligent.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of angle steel production equipment, in particular to the technical field of angle steel galvanized hanging parts, and relates to an angle steel automatic hanging part production line and method. BACKGROUND

[0002] Angle steel is a raw material widely used in the construction of steel frame structures such as power towers and signal towers. After forming, the angle steel needs to be surface hot galvanized by immersing the angle steel in molten zinc liquid to form a zinc-iron alloy coating to achieve rust and corrosion prevention.

[0003] Before entering the galvanizing pool for galvanizing, the angle steel needs to be "hanged", that is, a hanging hole (through hole) is opened near the end of the angle steel, and the angle steel is hung on the hanging rack one by one, and then the hanging rack with the hung angle steel is immersed in the galvanizing pool by the row hoist equipment for hot galvanizing. At present, the manual hanging of angle steel has the following technical problems: 1. Since the angle steel is heavy and usually stacked on the ground, manual hanging requires bending down to take one piece at a time, standing up, aligning the angle steel hanging hole with the hook to complete the suspension, which is labor-intensive and time-consuming and laborious. 2. The hooks of the existing angle steel hanging rack are usually L-shaped, and the horizontal section of the hook has no anti-falling design, which can easily cause the angle steel to fall off the hook and injure the worker; during the galvanizing process, the angle steel may also fall off the hook in the galvanizing pool, and after the angle steel falls off, the production must be stopped to fish the fallen angle steel, re-clean the zinc liquid, delay production, and even damage the equipment in serious cases; if a simple anti-falling blocking structure is designed on the horizontal section of the hook, it will also make it more difficult to hang and take down the angle steel, reducing production efficiency. 3. The existing angle steel hanging method has low automation and intelligence, and high labor cost. SUMMARY

[0004] To solve the above technical problems, the application provides an angle steel automatic hanging part production line and method. The technical solution adopted by the application is as follows: An automatic angle steel hanging production line includes a three-axis manipulator, an angle steel storage table and a magnetic manipulator. A hanger storage table and a hanger storage rack are arranged side by side within the coverage area of ​​the three-axis manipulator. The magnetic manipulator is located between the hanger storage rack and the angle steel storage table. A self-locking hanger is placed on the hanger storage table. The self-locking hanger includes a fixed hanger and a movable baffle. The fixed hanger includes a fixed hanger beam. Several vertical L-shaped hooks are evenly spaced on the lower surface of the fixed hanger beam. A card joint is processed at each end of the fixed hanger beam. A lifting ear with a lifting hole on the upper part is welded on both sides of the upper surface of the fixed hanger beam. A vertical sliding guide column is welded on one side of the lifting ear. Structure, the sliding guide column structure includes an upper limit block, a lower limit block and a sliding guide column, both ends of the sliding guide column are welded between the upper limit block and the lower limit block, a vertical connecting column is welded in the middle of the upper surface of the fixed bracket beam, a spring locating pin is fixedly installed on the upper end of the connecting column, the movable bracket includes a movable bracket beam, a vertical angle steel bracket column is welded at the position corresponding to the hook on the lower surface of the movable bracket beam, a vertical through sliding guide hole is processed at each end of the movable bracket beam, the sliding guide column passes through the sliding guide hole, a pin hole column is welded in the middle of the upper surface of the movable bracket beam, a first pin hole is provided on the upper side of the pin hole column facing the spring locating pin, and a second pin hole is provided on the lower side.

[0005] Preferably, the magnetic manipulator includes a six-axis linkage robot, which is fixedly connected to the upper surface of the magnetic claw mounting plate, and a plurality of magnetic claw heads are arranged parallel to the lower surface of the magnetic claw mounting plate. The magnetic claw head includes a magnetic claw head rotating shaft and a plurality of V-shaped electromagnets fixedly installed on the magnetic claw head rotating shaft. The two ends of the magnetic claw head rotating shaft are rotatably connected to the rotating shaft seat on the lower surface of the magnetic claw mounting plate, and the two ends of the magnetic claw head rotating shaft are fixedly installed with a steering gear. A claw head steering motor is installed on the upper surface of the magnetic claw mounting plate, and the telescopic rod of the claw head steering motor is fixedly connected to the steering slider. The steering slider slides with the slide rail on the side of the claw head steering motor, and an steering rack is fixedly installed on the lower side of the steering slider, and the steering rack is meshed with the steering gear for transmission connection.

[0006] Preferably, an angle steel alignment platform is provided on the side of the magnetic manipulator, and the angle steel alignment platform includes a movable tray and an alignment platform base. A fixed support rod and two telescopic rods are provided between the movable tray and the alignment platform base. One side of the bottom surface of the movable tray is movably connected to the upper end of the fixed support rod through a universal joint, and the lower end of the fixed support rod is fixedly connected to the alignment platform base. The front and rear of the other side of the bottom surface of the movable tray are movably connected to the upper end of the telescopic rod through a universal joint, and the lower end of the telescopic rod is movably connected to the alignment platform base through a universal joint. A plurality of alignment grooves are provided on the upper surface of the movable tray, and the alignment grooves are rectangular grooves parallel to each other and arranged at equal intervals.

[0007] Preferably, the lower end of the Z-axis track of the three-axis manipulator is welded to the upper part of the hanger picking claw, and the hanger picking claw is a plate with a square boss on each side of the rear side, and a U-shaped pull pin opening is opened in the middle of the lower end of the hanger picking claw.

[0008] Preferably, the front end of the magnetic suction claw mounting plate is provided with an industrial camera.

[0009] Preferably, the hanger storage table comprises a split-structure hanger placement table base and a hanger placement table, the hanger placement table base is a cubic frame structure, four hanger placement table positioning pins are welded on the upper surface of the hanger placement table base, four hanger placement table positioning pin holes corresponding to the hanger placement table positioning pins are formed on the four corners of the bottom of the hanger placement table, an L-shaped hanger placement table fork plate is welded on each side of the hanger placement table, a hanger support plate is welded on each side of the upper surface of the hanger placement table, and the hanger support plate is a metal plate vertically arranged and having a plurality of clamping holes corresponding to the clamping joints formed at equal intervals on the upper edge.

[0010] Preferably, the hanger storage rack comprises a hanger storage rack outer frame, the hanger storage rack outer frame is a quadrangular prism frame, a hanger storage rack positioning pin hole corresponding to a hanger storage rack positioning pin on the ground is formed on each corner of the bottom of the hanger storage rack outer frame, an L-shaped hanger storage rack fork plate is welded on each middle part of the two sides of the hanger storage rack outer frame, a hanger support plate is welded on each side of the upper part of the hanger storage rack outer frame, and the hanger support plate is a metal plate vertically arranged and having a plurality of clamping holes corresponding to the clamping joints formed at equal intervals on the upper edge.

[0011] The application also provides an automatic hanger method for an angle steel, which is applied to the automatic hanger production line for an angle steel. Step 1: the angle steel to be galvanized is transported and stacked on the angle steel storage table; Step 2: the hanger placement table filled with the self-locking hangers is transported and placed on the hanger placement table base, and the empty hanger storage rack is placed; Step 3: the three-axis mechanical hand takes the self-locking hanger at the front of the hanger placement table and places it on the empty hanger storage position at the rear of the hanger storage rack; at the same time, the magnetic suction mechanical hand takes a group of angle steels from the angle steel storage table and places them on the angle steel alignment table, the magnetic suction mechanical hand releases the angle steels and moves away, and the angle steel alignment table aligns the hanger holes of the group of angle steels; Step 4: the magnetic suction mechanical hand takes the group of angle steels after alignment and hangs them on the self-locking hanger at the front of the hanger storage rack, the three-axis mechanical hand pulls out the spring positioning pin of the self-locking hanger, the movable blocking beam naturally falls to the lowest position after the spring positioning pin is released, the angle steel blocking column and the hook horizontally limit the upper end of the angle steel, and the magnetic suction mechanical hand releases the angle steels; Step 5, if the rack placement table still has self-locking racks and the angle steel storage table still has remaining angle steels, return and execute step 3; if the rack placement table has no self-locking racks and the angle steel storage table still has remaining angle steels, the full rack storage rack is forked from the current position and transferred to the next process, and the empty rack placement table is retrieved, returned and executed step 2; if the rack placement table still has self-locking racks and the angle steel storage table has no remaining angle steels, the rack storage rack is forked from the current position and transferred to the next process, and the angle steel automatic hanging is completed.

[0012] Preferably, in step 3, when the angle steel hole alignment is performed, first, the movable tray is adjusted to be horizontal by the extension and retraction of the two extension rods, after the magnetic manipulator takes a group of angle steels, the orientation of all magnetic gripper heads is adjusted to be inclined at 45 degrees, the placement mode of the angle steels is adjusted from V-shaped to L-shaped, and the side on which all the angle steel holes are located is horizontally located below, the magnetic manipulator is moved downward to the position, after the magnetic gripper head is powered off and demagnetized, the angle steels are placed one by one in the alignment groove, and the magnetic manipulator is moved upward; then the extension and retraction of the extension rods is controlled, the extension rods on one side close to the angle steel hole are shortened, and the extension rods on the other side are lengthened, so that the movable tray is inclined, and the angle steels slide to the side on which the angle steel hole is located under the action of gravity, until all the angle steels abut against the side wall of the alignment groove on the side close to the angle steel hole.

[0013] Preferably, in step 4, the action of the three-axis manipulator pulling out the spring positioning pin is as follows: first, the rack taking hand claw is raised to the highest position along the Z axis, then the X axis direction and Y axis direction position are adjusted, so that the pull pin opening is located above the handle rod of the spring positioning pin; the rack taking hand claw is lowered to the handle rod to be clamped into the pull pin opening along the Z axis; the rack taking hand claw is moved backward along the X axis, and the handle head is pushed backward by the rack taking hand claw, so that the spring positioning pin is pulled out.

[0014] The beneficial effects of the present application are: 1. The angle steel automatic hanging production line and method can replace manual hanging, can hang multiple angle steels at a time, significantly improves production efficiency and reduces production cost; without manual participation in hanging, avoids accidents such as angle steel injury to workers; 2. The new self-locking rack can conveniently realize angle steel anti-falling self-locking, and can conveniently release the self-locking after galvanizing, not only greatly reduces the possibility of angle steel falling off, but also makes the angle steel convenient to hang and take down; 3. Promotes the development of automation and intelligence: the angle steel hot galvanizing automatic hanging technology cooperates with the intelligent robot feeding and discharging technology, so that the angle steel hot galvanizing production process is more automated and intelligent. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a perspective structural schematic view of the angle steel automatic hanging production line of the first embodiment of the present application. Figure 2Fig. 1 is a perspective view of a self-locking hanger according to an embodiment of the present application; Figure 3 Fig. 2 is another perspective view of the self-locking hanger according to the embodiment of the present application; Figure 4 Fig. 3 is a perspective view of a hanger storage platform according to the embodiment of the present application; Figure 5 Fig. 4 is a perspective view of a hanger storage rack according to the embodiment of the present application; Figure 6 Fig. 5 is a perspective view of a three-axis robot according to the embodiment of the present application; Figure 7 Fig. 6 is a perspective view of a hanger gripping hand according to the embodiment of the present application; Figure 8 Fig. 7 is another perspective view of the hanger gripping hand according to the embodiment of the present application; Figure 9 Fig. 8 is a perspective view of an angle steel storage platform according to the embodiment of the present application; Figure 10 Fig. 9 is a perspective view of a magnetic robot according to the embodiment of the present application; Figure 11 Fig. 10 is a perspective view of the magnetic robot according to the embodiment of the present application; Figure 12 Fig. 11 is a perspective view of an angle steel alignment platform according to the embodiment of the present application; Figure 13 Fig. 12 is another perspective view of the angle steel alignment platform according to the embodiment of the present application; Figure 14 Fig. 13 is a schematic view of a hanger gripping hand according to an embodiment of the present application; Figure 15 Fig. 14 is another schematic view of the hanger gripping hand according to the embodiment of the present application; Figure 16 Fig. 15 is a schematic view of an angle steel hole alignment according to the embodiment of the present application; Figure 17 Fig. 16 is another schematic view of the angle steel hole alignment according to the embodiment of the present application; Figure 18 Fig. 17 is a schematic view of an active tray returning to a horizontal state after the angle steel hole alignment according to the embodiment of the present application; Figure 19 Fig. 18 is a schematic view of a three-axis robot pulling a spring positioning pin according to the embodiment of the present application; Among them, 1 is a self-locking hanger, 101 is a fixed hanger beam, 102 is a hook, 103 is a card joint, 104 is a lifting ear, 105 is a sliding guide column structure, 105a is an upper limit block, 105b is a lower limit block, 105c is a sliding guide column, 106 is a connecting column, 107 is a spring positioning pin, 107a is a handle head, 107b is a spring pin head, 107c is a handle rod, 108 is a movable frame beam, 109 is a pin hole column, 109a is a first pin hole, 109b is a second pin hole, 110 is a sliding guide hole, 111 is an angle steel blocking column; 2 is a hanger storage table, 201 is a hanger placement table base, 202 is a hanger placement table, 203 is a hanger placement table fork plate, 204 is a hanger support plate, 205 is a placement table positioning pin, 206 is a placement table positioning pin hole; 3 is a hanger storage rack, 301 is a hanger storage rack outer frame, 302 is the fork plate of the pendant storage rack, 303 is the pendant support plate, 304 is the positioning pin hole of the pendant storage rack; 4 is a three-axis manipulator, 401 is a truss robot column, 402 is the X-axis track, 403 is the Y-axis track, 404 is the Z-axis track, 405 is the pendant picking claw, 406 is the pull pin opening; 5 is the angle steel storage table, 501 is the table, 502 is the angle steel limit column, 503 is the angle steel placement slot; 6 is the magnetic Suction manipulator, 601 is a six-axis linkage robot, 602 is an industrial camera, 603 is a magnetic claw mounting plate, 604 is a magnetic claw head, 605 is a claw head adjustment motor, 606 is an adjustment slider, 607 is an adjustment rack, 608 is an adjustment gear; 7 is an angle steel alignment table, 701 is a movable tray, 702 is an alignment slot, 703 is a fixed support rod, 704 is a telescopic rod, 705 is an alignment table base; 8 is an angle steel. DETAILED DESCRIPTION Example 1

[0016] like Figure 1 As shown, the automatic angle steel hanging production line includes several self-locking hangers 1, hanger storage platforms 2, hanger storage racks 3, a three-axis robot 4, angle steel storage platforms 5, a magnetic robot 6, and an angle steel alignment platform 7. The hanger storage platforms 2 and hanger storage racks 3 are placed adjacent to each other on the ground, with the self-locking hangers 1 placed on the hanger storage platforms 2. The three-axis robot 4 is located above the hanger storage platforms 2 and hanger storage racks 3 and can be moved to cover the hanger storage platforms 2 and hanger storage racks 3. The angle steel storage platform 5 is located in front of the hanger storage rack 3, and the magnetic robot 6 is located between the angle steel storage platform 5 and the hanger storage rack 3. The angle steel alignment platform 7 is located to the left and outer side of the magnetic robot 6. Angle steel 8 is aligned and placed on the angle steel alignment platform 7.

[0017] like Figure 2 and Figure 3As shown, the self-locking hanger 1 is composed of a fixed hanger and a movable blocking frame. The fixed hanger includes a fixed hanger beam 101, and a plurality of vertical L-shaped hooks 102 are welded on the lower surface of the fixed hanger beam 101 at equal intervals. A clamping joint 103 is formed at each end of the fixed hanger beam 101, and the clamping joint 103 is a wedge-shaped protrusion. The clamping joint 103 is used to cooperate with the wedge-shaped clamping hole on the hanger storage table 2 and the hanging piece storage rack 3 to limit the self-locking hanger 1. A lifting lug 104 is welded on each side of the upper surface of the fixed hanger beam 101, and a round lifting hole is formed in the upper end of the lifting lug 104. When hot-dip galvanizing, the fork rod of the lifting equipment will pass through the two lifting holes, thereby lifting the self-locking hanger 1. A vertical sliding guide column structure 105 is fixedly welded on one side of the lifting lug 104, and the sliding guide column structure 105 includes an upper limiting block 105a, a lower limiting block 105b, and a vertical sliding guide column 105c welded between the upper limiting block 105a and the lower limiting block 105b. A connecting column 106 is welded on the middle of the upper surface of the fixed hanger beam 101, and a spring positioning pin 107 is fixedly installed on the upper end of the connecting column 106. One side of the spring positioning pin 107 is a handle that can be pulled outward, and the handle includes a handle head 107a and a handle rod 107c. The other side is a spring pin head 107b that can be ejected and retracted. By pulling the handle head 107a outward, the spring pin head 107b can be retracted. The spring positioning pin 107 has a return spring inside, and after the handle head 107a is released, the spring pin head 107b will be ejected again. The "spring positioning pin" is a commonly used existing product in the mechanical field, and the specific structure can be checked in the published product manual.

[0018] The movable blocking frame includes a movable blocking frame beam 108, and a plurality of vertical angle steel blocking columns 111 are welded on the lower surface of the movable blocking frame beam 108 at equal intervals. Each hook 102 is correspondingly provided with an angle steel blocking column 111 in front of it. A vertical sliding guide hole 110 is formed at each end of the movable blocking frame beam 108, and the two sliding guide columns 105c pass through the sliding guide holes 110 on the same side to form a sliding fit, so that the movable blocking frame beam 108 can slide up and down relative to the fixed hanger. The upper and lower sliding ranges of the movable blocking frame beam 108 are limited by the upper limiting block 105a and the lower limiting block 105b. A pin hole column 109 is welded on the upper surface of the movable blocking frame beam 108, and a first pin hole 109a is formed in the upper part and a second pin hole 109b is formed in the lower part of the side surface of the pin hole column 109 towards the spring positioning pin 107. When the movable blocking frame beam 108 slides to the uppermost position, the spring pin head 107b will be inserted into the second pin hole 109b. When the movable blocking frame beam 108 slides to the lowermost position, the spring pin head 107b will be inserted into the first pin hole 109a.

[0019] When the self-locking hanger 1 is not in use, its initial state is that the spring pin head 107b is inserted into the second pin hole 109b and the movable blocking frame is located at the highest sliding position.

[0020] After hanging an angle steel 8 on each hook 102, the handle head 107a is pulled outward, and the spring pin head 107b is pulled out of the second pin hole 109b. At this time, the movable stopper will naturally fall under the action of gravity, and after falling to the lowest sliding position, the handle head 107a is released, and the spring pin head 107b rebounds and is inserted into the first pin hole 109a. At this time, the position of each angle steel stop column 111 is lowered, and the upper end of the angle steel 8 is horizontally limited and self-locked. At this time, the two lifting lugs 104 are hooked using the line hoist equipment, and the self-locking hanging rack 1 and the angle steel 8 on the rack are transported. No matter the vibration or the inclination, the angle steel 8 will not fall off. After hot galvanizing is completed, only the handle head 107a is pulled outward, the movable stopper beam 108 is pushed back to the original position, and then the handle head 107a is released, so that the angle steel 8 is released from the limit, and the angle steel 8 is conveniently taken off.

[0021] As shown in Figure 4 The hanging rack storage platform 2 is a detachable structure from top to bottom, including a hanging rack placing platform base 201 fixedly installed on the ground. The hanging rack placing platform base 201 is a cubic frame structure, and a placing platform positioning pin 205 is welded at each corner of the upper surface of the hanging rack placing platform base 201. A detachable hanging rack placing platform 202 is arranged on the hanging rack placing platform base 201, and a placing platform positioning pin hole 206 is formed at each corner of the bottom of the hanging rack placing platform 202. The placing platform positioning pin hole 206 is matched with the placing platform positioning pin 205 to horizontally limit the movement of the hanging rack placing platform 202. An L-shaped hanging rack placing platform fork plate 203 is welded on each side of the hanging rack placing platform 202. The hanging rack placing platform fork plate 203 includes a vertical welding plate and a horizontal fork plate extending outward. A forklift or other lifting and transporting equipment can lift the horizontal fork plates of the two hanging rack placing platform fork plates 203 with the fork heads, so as to realize the overall carrying of the hanging rack placing platform 202. A hanging rack support plate 204 is welded on each side of the upper surface of the hanging rack placing platform 202. The hanging rack support plate 204 is a metal plate vertically arranged and having wedge-shaped notches I regularly formed at the upper edge. The wedge-shaped notches I are matched with the clamping heads 103, so as to horizontally limit the movement of the fixed hanging rack beam 101. The hanging rack placing platform 202 can place multiple self-locking hanging racks 1. A pair of wedge-shaped notches I is arranged on each side of each hanging rack placing position. In this embodiment, ten hanging rack placing positions are arranged on the hanging rack support plate 204.

[0022] As shown in Figure 5As shown, the hanging piece storage rack 3 comprises a hanging piece storage rack outer frame 301, which is a four-prism frame provided with a plurality of horizontal reinforcing beams on two sides and the back. The hanging piece storage rack outer frame 301 is detachably placed on the ground, and each of the four corners of the bottom of the hanging piece storage rack outer frame 301 is provided with a hanging piece storage rack positioning pin hole 304, which is matched with four hanging piece storage rack positioning pins on the ground to realize horizontal positioning of the hanging piece storage rack 3. Each of the two middle parts of the hanging piece storage rack 3 is welded with an L-shaped hanging piece storage rack fork plate 302, which comprises a vertical welded plate and a horizontal fork plate extending outward, and the horizontal fork plate is matched with the fork head of the hoisting and transporting equipment to realize the forklift handling of the hanging piece storage rack 3. Each side of the upper surface of the hanging piece storage rack outer frame 301 is welded with a hanging piece support plate 303, which is a vertically arranged metal plate with a wedge-shaped aperture two opened at the upper edge at equal intervals, and the wedge-shaped aperture two is matched with the clamping head 103 to realize the horizontal positioning of the self-locking hanging rack 1. The hanging piece storage rack 3 can place a plurality of self-locking hanging racks 1, and each hanging piece placement position is correspondingly provided with a pair of wedge-shaped apertures two. The total number of hanging piece placement positions of the hanging piece storage rack 3 is consistent with the total number of hanging rack placement positions of the hanging rack placement table 202. In this embodiment, ten hanging piece placement positions are provided on the hanging piece storage rack 3.

[0023] As shown in Figure 6 , the three-axis manipulator 4 comprises a three-axis gantry robot and a hanging rack taking hand claw 405. The three-axis gantry robot comprises four gantry robot columns 401. The upper ends of the two left and right gantry robot columns 401 are respectively fixedly arranged with X-axis rails 402. Two parallel X-axis rails 402 are movably arranged with Y-axis rails 403, and the two ends of the Y-axis rails 403 can be driven by a motor to move back and forth along the X-axis rails 402. The Y-axis rails 403 are provided with Z-axis rails 404 on one side, and the Z-axis rails 404 are square tubes with guide rails fixedly arranged on the back side. The Z-axis rails 404 can be driven by a motor to move left and right and up and down along the Y-axis rails 403. The three-axis gantry robot (also called gantry manipulator, gantry robot, etc.) belongs to a commonly used mechanical equipment in the field of automation, and its specific structure can be known from the technical manual of the public product, which will not be described here.

[0024] As shown in Figure 7 , Figure 8 , the lower end of the back side of the Z-axis rail 404 is welded with the upper part of the front side of the hanging rack taking hand claw 405, and the hanging rack taking hand claw 405 is a plate member with a square boss on each of the left and right sides of the back side. The lower middle part of the hanging rack taking hand claw 405 is provided with a U-shaped pull pin opening 406 for pulling the handle head 107a. The hanging rack taking hand claw 405 can be driven by the three-axis gantry robot to complete accurate three-axis movement.

[0025] AsFigure 9 As shown, the angle steel storage platform 5 comprises a table 501, and a plurality of V-shaped angle steel placing grooves 503 are welded on the table 501. The angle steel placing grooves 503 are elongated V-shaped grooves, and a plurality of angle steel limiting columns 502 are welded at the slits between adjacent two angle steel placing grooves 503.

[0026] When the angle steel is fed, the angle steel 8 is placed in the angle steel placing groove 503 by the hoisting and transporting equipment or the travelling crane equipment, and a group of V-shaped stacked angle steels 8 is placed in each angle steel placing groove 503. The angle steels 8 are placed side by side in the V shape with the opening upward, which facilitates the magnetic suction manipulator 6 to pick up a plurality of angle steels 8 at a time.

[0027] As shown in Figure 10 , Figure 11 , the magnetic suction manipulator 6 comprises a six-axis linkage robot 601, which is a common automatic equipment, and the specific structure can be checked in the technical manual of the public product. The last end of the six-axis linkage robot 601 is fixedly connected with the upper surface of a magnetic suction claw mounting plate 603 through a flange. The last end of the six-axis linkage robot 601 is also provided with an industrial camera 602, which is used for real-time shooting of the direction of the magnetic suction claw head 604 or the direction of the angle steel 8 picked up. A plurality of magnetic suction claw heads 604 are arranged on the lower surface of the magnetic suction claw mounting plate 603 in parallel, and the number of the magnetic suction claw heads 604 is consistent with the total number of the hooks 102 of one self-locking hanger 1. The magnetic suction claw head used in cooperation with the robot belongs to a common automatic handling equipment, and the internal structure can be found in the technical manual of the existing product. The magnetic suction claw head 604 comprises a magnetic suction claw head shaft and a plurality of V-shaped electromagnets fixedly installed on the magnetic suction claw head shaft. The V-shaped electromagnets are consistent with the shape of the V-shaped placed angle steel 8, and the V-shaped electromagnets after energization and magnetization can pick up a single angle steel 8 through magnetic attraction. The two ends of the magnetic suction claw head shaft are rotatably connected with the shaft seats on the lower surface of the magnetic suction claw mounting plate 603, and the two ends of the magnetic suction claw head shaft are also fixedly provided with a direction adjusting gear 608, which is used for adjusting the direction of the V-shaped electromagnet through rotation. After the angle steel 8 is moved to the required position, the magnetic suction claw head 604 is de-energized and demagnetized, so that the angle steel 8 can be released. The upper surface of the magnetic suction claw mounting plate 603 is provided with a claw head direction adjusting motor 605, the extension rod of the claw head direction adjusting motor 605 is fixedly connected with a direction adjusting sliding block 606, and the direction adjusting sliding block 606 is controlled to move forward and backward. The direction adjusting sliding block 606 is slidably connected with the sliding rails fixedly installed on the side surface of the claw head direction adjusting motor 605. The lower surface of the direction adjusting sliding block 606 is fixedly provided with a direction adjusting rack 607, and the direction adjusting rack 607 is engaged with the direction adjusting gears 608 on all the magnetic suction claw heads 604. The direction adjusting motor 605 drives the direction adjusting sliding block 606 and the direction adjusting rack 607 to move forward and backward, and the rotation of the direction adjusting gears 608 can synchronously adjust the directions of all the magnetic suction claw heads 604.

[0028] The "lifting" action involves the six-axis robot 601 moving the magnetic claw mounting plate 603 over a group of angle steels 8 and adjusting the orientation of the magnetic claw heads 604 to align with the placement of the angle steels 8. The six-axis robot 601 then lowers the magnetic claw mounting plate 603 so that each of the magnetic claw heads 604 contacts the center of a single angle steel 8. The magnetic claw heads 604 are then electromagnetized, and the mounting plate 603 moves upward, allowing the group of angle steels 8 to be lifted. For example, if the angle steels 8 are placed in a V-shape on the angle steel storage table 5, the magnetic claw heads 604 are oriented vertically downward. If the angle steels 8 are placed in an L-shape on the angle steel alignment table 7, the magnetic claw heads 604 are rotated 45 degrees left or right so that the electromagnets at their lower ends precisely contact the sides of the angle steels 8.

[0029] The angle steels 8 stacked on the angle steel storage table 5 may not be aligned front to back due to transportation or other reasons. After the magnetic robot 6 directly picks them up, the hanging holes on the angle steels 8 are not aligned, and they cannot all be hung on the self-locking hanger 1 at one time. Therefore, the angle steel hanging holes need to be aligned.

[0030] like Figure 12 、 Figure 13 As shown, the angle steel alignment platform 7 includes a movable tray 701 and an alignment platform base 705. A fixed support rod 703 and two telescopic rods 704 are disposed between the movable tray 701 and the alignment platform base 705. One side of the bottom surface of the movable tray 701 is movably connected to the upper end of the fixed support rod 703 via a universal joint, and the lower end of the fixed support rod 703 is fixedly connected to the alignment platform base 705. The front and rear portions of the other side of the bottom surface of the movable tray 701 are movably connected to the upper end of the telescopic rod 704 via universal joints, and the lower ends of the telescopic rod 704 are movably connected to the alignment platform base 705 via universal joints. The telescopic rods 704 are rods whose length can be controlled and automatically extended and retracted, for example, by using a servo motor to control the extension and retraction of the rod ends, or by using an electric cylinder to drive the extension and retraction of the rod ends. There are several alignment grooves 702 on the upper surface of the movable tray 701. The alignment grooves 702 are rectangular grooves parallel to each other and arranged at equal intervals. The angle steels 8 can be placed in the alignment grooves 702 and can slide in the alignment grooves 702. The number of alignment grooves 702 is consistent with the total number of hooks 102 of a self-locking hanger 1.

[0031] When performing the angle steel hanging piece, the hoisting and transporting equipment carries the empty hanging piece storage rack 3, and after positioning the four hanging piece storage rack positioning pin holes 304 respectively with the ground hanging piece storage rack positioning pins, the hanging piece storage rack 3 is placed down. After the hanging piece storage rack 3 is placed in position, the three-axis mechanical hand 4 moves an empty self-locking hanging rack 1 from the hanging rack placing table 202 to the hanging piece placing position of the hanging piece storage rack 3, so that the clamping joints 103 on both sides of the self-locking hanging rack 1 are respectively clamped with the wedge-shaped clamping holes two of the hanging piece support plates 303 on both sides of the hanging piece placing position. Then, the magnetic suction mechanical hand 6 hangs a group of angle steels 8 on the self-locking hanging rack 1, and the three-axis mechanical hand 4 pulls the handle head 107a to complete the anti-dropping locking, that is, the angle steel hanging piece of the self-locking hanging rack 1 is completed. Then the three-axis mechanical hand 4 takes the second self-locking hanging rack 1, completes the hanging piece, and repeats until the hanging piece storage rack 3 is full of self-locking hanging racks 1 and all the angle steel hanging pieces are completed. The hoisting and transporting equipment forks up the full hanging piece storage rack 3 and transports it to the hot galvanizing process position. The all self-locking hanging racks 1 are hoisted by the line hoist device for hot galvanizing, at this time all the hanging piece placing positions of the hanging piece storage rack 3 are empty, and the above steps are repeated to perform the next round of angle steel hanging piece. The "a group" refers to the total number of angle steels 8 that can be hung on one self-locking hanging rack 1. In this embodiment two, the self-locking hanging rack 1 has eight hooks 102, so "a group of angle steels 8" refers to eight angle steels 8. Embodiment two

[0032] Embodiment two gives an angle steel automatic hanging piece method, which is applied to the angle steel automatic hanging piece production line described in embodiment one, including the following steps: s01, using the hoisting and transporting equipment to carry and code the angle steel 8 to be galvanized on the angle steel storage table 5.

[0033] s02, using the hoisting and transporting equipment to carry and place the hanging rack placing table 202 full of empty self-locking hanging racks 1 on the hanging rack placing table base 201, and place the empty hanging piece storage rack 3.

[0034] When performing the angle steel hanging piece, the hanging rack placing table 202 first completes the feeding of the empty self-locking hanging rack 1 at other stations, that is, the worker or automatic equipment places the empty self-locking hanging rack 1 in the unlocked state on the hanging rack placing table 202 one by one, and fills all the hanging rack placing positions of the hanging rack placing table 202. Then the hoisting and transporting equipment forks the hanging rack placing table fork plate 203, carries the hanging rack placing table 202 to above the hanging rack placing table base 201 and slowly places it down, so that the placing table positioning pin holes 206 are aligned and placed with the placing table positioning pins 205.

[0035] S03, the three-axis mechanical hand 4 picks up the self-locking hanger 1 at the front of the hanger placement table 202 and places it on the empty hanger placement position at the back of the hanger storage rack 3; at the same time, the magnetic mechanical hand 6 picks up a group of angle steels 8 from the angle steel storage table 5 and moves them to the angle steel alignment table 7, the magnetic mechanical hand 6 releases the angle steels 8 and moves away, and the angle steel alignment table 7 aligns the holes of the angle steels 8.

[0036] As shown in Figure 14 , Figure 15 , the action of the hanger picking hand 405 picking up the self-locking hanger 1 is as follows: first, the hanger picking hand 405 moves forward along the X axis (the X axis, Y axis and Z axis directions are described in embodiment two, reference Figure 6 ) to the front side of the self-locking hanger 1, then moves left and right along the Y axis to align the center lines of the hanger picking hand 405 and the self-locking hanger 1, and then moves downward along the Z axis to a position where the upper surface of the hanger picking hand 405 is slightly lower than the lower surface of the movable blocking beam 108. The hanger picking hand 405 moves backward along the X axis until the rear side of the Z axis track 404 is in contact with the movable blocking beam 108, at this time, the two square boss structures of the hanger picking hand 405 are located directly below the movable blocking beam 108, the hanger picking hand 405 moves upward along the Z axis, and the square boss structure can lift the self-locking hanger 1 upward to complete the picking up.

[0037] The action of the hanger picking hand 405 placing the self-locking hanger 1 on the hanger storage rack 3 is as follows: first, the hanger picking hand 405 moves upward along the Z axis to the highest position, adjusts the X direction and Y direction positions of the hanger picking hand 405, so that the self-locking hanger 1 is located directly above the most rear empty hanger placement position, and the clamping joints 103 at both ends of the self-locking hanger 1 are respectively aligned with the wedge-shaped sockets two on both sides of the hanger placement position. The hanger picking hand 405 moves downward along the Z axis to place the self-locking hanger 1 on the hanger placement position. As the hanger picking hand 405 moves downward, the lower side of the movable blocking beam 108 will be away from the upper side of the boss structure of the hanger picking hand 405, then the hanger picking hand 405 moves forward along the X direction, and the hanger picking hand 405 completely separates from the self-locking hanger 1, that is, the placement of the self-locking hanger 1 is completed.

[0038] As shown in Figure 16 , Figure 17As shown, when the alignment of the angle steel hanging hole is performed, first, the movable tray 701 is adjusted to be horizontal through the extension and retraction of the two telescopic rods 704. After the magnetic manipulator 6 takes a group of angle steels 8 from the angle steel storage table 5, the orientations of all the magnetic gripper heads 604 are adjusted to be inclined at an angle of 45 degrees, so that the placement form of the angle steels 8 is adjusted from V-shaped to L-shaped, and the side where all the angle steel hanging holes are located is horizontally located below. Then the magnetic manipulator 6 places the angle steels 8 one by one in the alignment groove 702 in a corresponding manner. After the magnetic gripper heads 604 are powered off and demagnetized, the magnetic manipulator 6 moves upward, so that the angle steels 8 are placed into the movable tray 701, thereby completing the placing of the angle steels 8 into the movable tray 701. Then the extension and retraction of the telescopic rods 704 is controlled, so that the telescopic rod 704 closer to the side of the angle steel hanging hole is shortened, and the telescopic rod 704 on the other side is lengthened, so that the movable tray 701 is inclined, and the angle steels 8 slide to the side where the angle steel hanging hole is located under the action of gravity, until all the angle steels 8 are attached to the front or rear sidewall of the alignment groove 702 on the side close to the hanging hole, thereby completing the alignment of the angle steel hanging hole.

[0039] Furthermore, the movable tray 701 of the present application can not only be inclined forward and backward in the length direction of the angle steel 8, but also be inclined left and right in the width direction. Specifically, since the upper end of the fixed support rod 703 is fixed and unchanged, when the two telescopic rods 704 are simultaneously lengthened, the right side (the "right side" refers to the right side in the perspective view) of the movable tray 701 is lifted, so that the movable tray 701 is inclined to the left. Conversely, when the two telescopic rods 704 are simultaneously shortened, the movable tray 701 is inclined to the right. In this way, when the width size of the angle steel 8 is smaller than the alignment groove 702, after the alignment of the angle steel hanging hole is performed, the movable tray 701 is inclined to the left or to the right, so that the angle steels 8 slide in the width direction until the vertical surface of the angle steel 8 is also attached to the sidewall of the alignment groove 702, thereby ensuring that the aligned angle steels 8 still maintain parallel to each other, and the distance between them remains unchanged as before, so that the magnetic manipulator 6 can take all the aligned angle steels 8 at one time. Figure 16

[0040] In order to speed up the sliding of the angle steels 8, after the movable tray 701 is inclined, the two telescopic rods 704 are quickly and slightly extended and retracted, so that the movable tray 701 is slightly shaken, and the angle steels 8 are more easily slid.

[0041] As shown in FIG. 6, after the alignment of the angle steel hanging hole is completed, the movable tray 701 is slowly adjusted back to the horizontal state, and the magnetic manipulator 6 takes the aligned angle steels 8 again. Figure 18

[0042] s04、The magnetic manipulator 6 takes the aligned angle steels 8 and hangs a group of angle steels 8 on the frontmost self-locking hanger 1 of the hanging part storage rack 3. The three-axis manipulator 4 pulls out the spring positioning pin 107 of the self-locking hanger 1, and the movable blocking rack beam naturally falls to the lowest position. Then the three-axis manipulator 4 releases the spring positioning pin 107, and then the magnetic manipulator 6 releases the angle steels 8. ​​

[0043] At this time, the hanging holes of all angle steels 8 are in line, and the magnetic manipulator 6 picks up the aligned angle steels 8, and can hang a group of angle steels 8 on the self-locking hanging rack 1 at a time, with each hanging hole corresponding to a hook 102, thereby completing the hanging of the angle steels. During hanging, the industrial camera 602 can assist the magnetic manipulator 6 to complete the alignment of the hanging holes and the hooks 102 through vision.

[0044] A group of angle steels 8 are hung on the self-locking hanging rack 1, and the spring positioning pin 107 needs to be pulled out to lock and fix the angle steels 8, as shown in Figure 19 The action of the three-axis manipulator 4 to pull out the spring positioning pin 107 is as follows: first, the hanging rack taking gripper 405 rises along the Z axis to the highest position, and then the X axis direction and Y axis direction positions are adjusted so that the pull pin opening 406 is located directly above the handle rod 107c; the hanging rack taking gripper 405 is lowered along the Z axis to the handle rod 107c to be clamped into the pull pin opening 406. Then the hanging rack taking gripper 405 moves backward along the X axis, and the hanging rack taking gripper 405 will push the handle head 107a backward, thereby pulling out the spring positioning pin 107.

[0045] s05, if there are still self-locking hanging racks 1 on the hanging rack placing table 202 and there are still remaining angle steels 8 on the angle steel storage table 5, return and re-execute s03; if there are no self-locking hanging racks 1 on the hanging rack placing table 202 and there are still remaining angle steels 8 on the angle steel storage table 5, use the lifting and transporting equipment to lift the full hanging rack storage 3 from the current position and move it to the next process, and use the lifting and transporting equipment to take back the empty hanging rack placing table 202, return and execute s02; if there are still self-locking hanging racks 1 on the hanging rack placing table 202 and there are no remaining angle steels 8 on the angle steel storage table 5, use the lifting and transporting equipment to lift the not full hanging rack storage 3 from the current position and move it to the next process, and the angle steel automatic hanging is completed.

[0046] When the self-locking hanging racks 1 on the hanging rack placing table 202 are emptied and there are still remaining angle steels 8 on the angle steel storage table 5, the lifting and transporting equipment lifts the empty hanging rack placing table 202 back to the self-locking hanging rack 1 feeding station to continuously feed the empty self-locking hanging racks 1.

Claims

1. An automatic angle steel hanging production line, including a three-axis manipulator, an angle steel storage table and a magnetic manipulator, characterized in that: A hanger storage platform and a hanger storage platform are arranged side by side within the coverage range of the three-axis manipulator, the magnetic manipulator is located between the hanger storage platform and the angle steel storage platform, the self-locking hanger is placed on the hanger storage platform, the self-locking hanger includes a fixed hanger and a movable stopper, the fixed hanger includes a fixed hanger beam, a plurality of vertical L-shaped hooks are arranged at equal intervals on the lower surface of the fixed hanger beam, a card joint is processed at each end of the fixed hanger beam, a lifting ear with a lifting hole on the upper part is welded on both sides of the upper surface of the fixed hanger beam, a vertical sliding guide column structure is welded on one side of the lifting ear, and the sliding guide column structure includes an upper limit block , a lower limit block and a sliding guide column, both ends of the sliding guide column are welded between the upper limit block and the lower limit block, a vertical connecting column is welded in the middle of the upper surface of the fixed bracket beam, a spring locating pin is fixedly installed on the upper end of the connecting column, the movable bracket includes a movable bracket beam, a vertical angle steel bracket column is welded at the position of the hook on the lower surface of the movable bracket beam, a vertical through sliding guide hole is processed at each end of the movable bracket beam, the sliding guide column passes through the sliding guide hole, a pin hole column is welded in the middle of the upper surface of the movable bracket beam, a first pin hole is provided on the upper side of the pin hole column facing the spring locating pin, and a second pin hole is provided on the lower side.

2. The automatic angle steel hanging production line according to claim 1, characterized in that: The magnetic manipulator includes a six-axis linkage robot, which is fixedly connected to the upper surface of the magnetic claw mounting plate, and a plurality of magnetic claw heads are arranged parallel to the lower surface of the magnetic claw mounting plate. The magnetic claw head includes a magnetic claw head rotating shaft and a plurality of V-shaped electromagnets fixedly installed on the magnetic claw head rotating shaft. The two ends of the magnetic claw head rotating shaft are rotatably connected to the rotating shaft seat on the lower surface of the magnetic claw mounting plate, and the two ends of the magnetic claw head rotating shaft are fixedly installed with a steering gear. A claw head steering motor is installed on the upper surface of the magnetic claw mounting plate, and the telescopic rod of the claw head steering motor is fixedly connected to the steering slider. The steering slider slides with the slide rail on the side of the claw head steering motor. The steering rack is fixedly installed on the lower side of the steering slider, and the steering rack is meshed and driven with the steering gear.

3. The automatic angle steel hanging production line according to claim 2, characterized in that: An angle steel alignment platform is arranged on the side of the magnetic manipulator, and the angle steel alignment platform includes a movable tray and an alignment platform base. A fixed support rod and two telescopic rods are arranged between the movable tray and the alignment platform base. One side of the bottom surface of the movable tray is movably connected to the upper end of the fixed support rod through a universal joint, and the lower end of the fixed support rod is fixedly connected to the alignment platform base. The front and rear of the other side of the bottom surface of the movable tray are movably connected to the upper end of the telescopic rod through a universal joint, and the lower end of the telescopic rod is movably connected to the alignment platform base through a universal joint. A plurality of alignment grooves are opened on the upper surface of the movable tray, and the alignment grooves are rectangular grooves parallel to each other and arranged at equal intervals.

4. The automatic angle steel hanging production line according to claim 3, characterized in that: The lower end of the Z-axis track of the three-axis manipulator is welded to the upper part of the hanger picking claw. The hanger picking claw is a plate with a square boss on each side of the rear side, and a U-shaped pull pin opening is opened in the middle of the lower end of the hanger picking claw.

5. The automatic angle steel hanging production line according to claim 2, characterized in that: An industrial camera is installed at the front end of the magnetic claw mounting plate.

6. The automatic angle steel hanging production line according to claim 1, characterized in that: The rack storage table includes a rack placement table base and a rack placement table with a split structure. The rack placement table base is a cubic frame structure. A placement table positioning pin is welded to each of the four corners of the upper surface of the rack placement table base. The four corners of the bottom of the rack placement table are provided with placement table positioning pin holes corresponding to the placement table positioning pins. An L-shaped rack placement table fork plate is welded on each side of the rack placement table. A rack support plate is welded on each side of the upper surface of the rack placement table. The rack support plate is a metal plate arranged vertically and has a bayonet corresponding to the bayonet joint at equal intervals on the upper edge.

7. The automatic angle steel hanging production line according to claim 1, characterized in that: The hanger storage rack includes a hanger storage rack outer frame, which is a quadrangular prism frame. A hanger storage rack positioning pin hole corresponding to the hanger storage rack positioning pin on the ground is provided at each of the four corners of the bottom of the hanger storage rack outer frame. An L-shaped hanger storage rack fork plate is welded in the middle of each side of the hanger storage rack, and a hanger support plate is welded on each side of the upper part of the hanger storage rack outer frame. The hanger support plate is a vertically arranged metal plate with bayonet two corresponding to the bayonet joint provided at equal intervals on the upper edge.

8. A method for automatically hanging angle steel, characterized in that: The method is applied to an automatic angle steel hanging production line as claimed in claim 4, comprising the following steps: Step 1: Move the angle steel to be galvanized and place it on the angle steel storage table; Step 2: Move the rack placement table filled with self-locking racks and place it on the rack placement table base, and place an empty rack; Step 3: The three-axis manipulator picks up the self-locking hanger at the front of the hanger placement table and places it on the empty hanger storage position at the back of the hanger storage rack. At the same time, the magnetic manipulator picks up a group of angle steels from the angle steel storage table and moves them to the angle steel alignment table. The magnetic manipulator releases the angle steels and moves them away. The angle steel alignment table aligns the angle steel hanging holes of the group of angle steels. Step 4: The magnetic manipulator picks up the aligned angle steel and hangs it on a self-locking hanger at the front of the hanger storage rack. The three-axis manipulator pulls open the spring positioning pin of the self-locking hanger. After the movable retaining frame beam naturally drops to the lowest position, the three-axis manipulator releases the spring positioning pin. The angle steel retaining column and the hook limit the upper end of the angle steel horizontally, and the magnetic manipulator releases the angle steel. Step 5. If there are still self-locking hangers on the hanger placement table and there are still remaining angles on the angle steel storage table, return and execute step 3; if there are no self-locking hangers on the hanger placement table and there are still remaining angles on the angle steel storage table, fork the full hanger storage rack from the current position and transfer it to the next process, and take back the empty hanger placement table, return and execute step 2; if there are still self-locking hangers on the hanger placement table and there are no remaining angles on the angle steel storage table, fork the unfilled hanger storage rack from the current position and transfer it to the next process, and the automatic hanging of angle steel is completed.

9. The method for automatically hanging angle steel according to claim 8, characterized in that: In step 3, when aligning the angle steel hanging holes, first adjust the movable tray to a horizontal level by extending and retracting the two telescopic rods. After the magnetic manipulator picks up a group of angle steels, the orientation of all magnetic claw heads is adjusted to a 45-degree tilt, so that the placement of the angle steels is adjusted from a V-shape to an L-shape, and the side where all the angle steel hanging holes are located is horizontally located at the bottom. The magnetic manipulator moves downward into position, and after the magnetic claw heads are powered off and demagnetized, the angle steels are placed one by one in the alignment groove, and the magnetic manipulator moves upward. Then, the telescopic rods are controlled to shorten the telescopic rod on the side close to the angle steel hanging hole and lengthen the telescopic rod on the other side, so that the movable tray is tilted, and the angle steels slide toward the side where the angle steel hanging holes are located under the action of gravity until the edges of all the angle steels close to the angle steel hanging holes are attached to the side walls of the alignment groove.

10. The method for automatically hanging angle steel according to claim 8, characterized in that: In step 4, the three-axis manipulator pulls the spring locating pin as follows: first, the bracket pick-up claw rises to the highest point along the Z axis, and then adjusts the position in the X-axis and Y-axis directions so that the pull-pin opening is directly above the handle rod of the spring locating pin; the bracket pick-up claw descends along the Z axis until the handle rod is engaged with the pull-pin opening; the bracket pick-up claw moves backward along the X axis, and the bracket pick-up claw pushes the handle head backward, thereby pulling the spring locating pin.

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