Steel material stacking robot

Abstract

The application relates to the technical field of material handling stacking equipment, and discloses a steel stacking manipulator, which comprises a main bearing assembly, characterized in that the main bearing assembly is fixedly connected with a moving end of a truss system through a flange, a plurality of articulated cross beam assemblies are arranged below the main bearing assembly, the plurality of articulated cross beam assemblies comprise a plurality of cross beam segments which are sequentially hingedly connected in a head-to-tail mode, a suction disc suspension assembly is arranged below each cross beam segment, the suction disc suspension assembly comprises an electromagnetic suction disc, the electromagnetic suction disc has a vertical sliding idle stroke relative to the cross beam segment, and a tension trigger self-locking joint is arranged at the hinge joint of adjacent cross beam segments. By decomposing the bearing framework into a plurality of single-axis hingedly connected cross beam segments and matching the idle stroke suction disc suspension structure, the manipulator completely relies on the self weight of the components to bend and slide to retreat in the stage of diving, thereby eliminating the geometric interference between the flat rigid body and the wavy curved surface, and realizing full-area magnetic force coupling of the electromagnetic array.

Description

Technical Field

[0001] This invention relates to the field of material handling and stacking equipment technology, specifically a steel stacking robot. Background Technology

[0002] In the turnover operations of modern steel metallurgical manufacturing and bulk metal logistics hubs, the efficient stacking and transfer of medium and thin steel plates is a core logistics node. Currently, the most widely used lifting and handling end effector in the industry is still a heavy-duty lifting system based on a rigid continuous long main beam suspended array of electromagnetic chucks. However, this extensive operation paradigm, which relies on an overall rigid frame, exposes its mechanical limitations when dealing with the complex and varied material morphology and layered physical states in actual working conditions.

[0003] After undergoing high-temperature hot rolling, rapid cooling, and heavy-load pressing, the uneven release of residual stress in steel plates can cause wavy or bow-shaped torsional deformations on the plate surface. When a straight and undeformable rigid manipulator presses down on such irregular curved steel plates, the geometric constraints of the rigid beam directly disrupt the topological fit of the chuck array, forcing a large number of electromagnetic chucks to suspend above the concave areas of the plate surface. This localized physical suspension leads to a sharp reduction in the effective magnetic circuit coupling area, which not only significantly weakens the total pull-out force of the system but also creates a significant safety hazard during subsequent high-altitude lifting and translation, where the heavy object may fall off completely due to vibration. If the rigid main beam is completely abandoned in order to compromise the curved surface adhesion rate and a purely flexible chain suspension electromagnetic array is used instead, then when handling thin, flexible steel plates with large spans, the complete loss of the structural framework support against bending and torsion will cause the suspended steel plates to experience uncontrollable low-frequency violent oscillations and secondary plastic deformations during the acceleration and deceleration phases of the crane, seriously threatening the fatigue life of the crane bridge.

[0004] Furthermore, in the context of stacked steel plates in a three-dimensional storage system, the compressed layers of steel plates are largely air-free, forming a tightly bonded vacuum negative pressure layer. The strong magnetic field residual effect accumulated within the bottom layer of steel plates by the high-frequency excitation of large electromagnetic chucks further bonds the upper and lower layers together. When using traditional rigid lifting equipment, all the slings and chucks below apply a uniformly distributed vertical tension to the top layer of steel plate in a perfectly synchronized manner. This crude, overall horizontal lifting force model not only fails to physically sever the sealed negative pressure boundary between the layers but also easily uses vacuum suction to lift even lower layers or multiple layers of plates not within the target's grasping range. During mid-air transfer, if this fragile, over-design-threshold suction force is broken by gravity or gusts of wind, the bottom layer of steel plates will instantly detach and fall to the ground, resulting in irreversible and catastrophic accidents.

[0005] Faced with the aforementioned challenges in material handling caused by the interplay of curved surface interference and vacuum negative pressure adhesion, existing industrial technological upgrades have largely fallen into the trap of system redundancy, heavily relying on external energy intervention. Attempts have focused on adding dense laser ranging radars and independent servo hydraulic cylinder groups to the lifting equipment to actively map and compensate for the beam's attitude, or forcibly incorporating high-pressure pneumatic cutters into the gripping flanks to separate the plates. However, in the harsh environment of a metallurgical workshop filled with high concentrations of conductive iron oxide dust, radiating high temperatures, and strong electromagnetic interference caused by the frequent start-ups and shutdowns of heavy-duty equipment, these electro-hydraulic servo circuits have poor survivability, prone to sensor blinding and valve jamming. The high initial modification costs, coupled with an intolerable downtime rate, make them fundamentally unsuitable for the demanding requirements of all-weather, heavy-duty operations. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a steel stacking robot that solves the problems of existing hoisting equipment in simultaneously achieving both smooth fit with irregular curved steel plates and high-rigidity bending resistance during heavy-duty handling. It also addresses the safety hazards of multiple steel plates sticking together and flying or even falling from mid-air due to vacuum negative pressure and residual magnetism between the plates during synchronous hoisting. Furthermore, it overcomes the technical problems of high failure rate and low reliability of existing active electro-hydraulic compensation systems under harsh metallurgical conditions.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a steel stacking robot, comprising a main load-bearing assembly, characterized in that the main load-bearing assembly is fixedly connected to the moving end of a truss system via a flange; a plurality of hinged beam assemblies are arranged below the main load-bearing assembly; each hinged beam assembly comprises a plurality of beam segments that are sequentially hinged end-to-end; a suction cup suspension assembly, including an electromagnetic suction cup, is installed below each beam segment; the electromagnetic suction cup has a vertical sliding free travel relative to the beam segment; a tension-triggered self-locking joint is provided at the hinge of adjacent beam segments; a main load-bearing sling assembly is provided between the main load-bearing assembly and the plurality of hinged beam assemblies; the main load-bearing sling assembly... A dedicated self-locking sling assembly is installed between the main load-bearing component and the tension-triggered self-locking joint. When the main load-bearing component is in a descent and slack state, the tension-triggered self-locking joint is in an unlocked state, and each hinge point of the multi-segment articulated beam assembly is in a free-rotating state. When the main load-bearing component is driven upward by the truss system, the main load-bearing sling assembly preferentially transmits upward lifting force to the beam segments located on both sides of the edge, causing the beam segments located on both sides of the edge to undergo local bending and lifting while each hinge point is in a free-rotating state. Subsequently, the dedicated self-locking sling assembly is tensioned and pulled upward to trigger the tension-triggered self-locking joint to restrict the rotation of each hinge point. Finally, as the main load-bearing component continues to rise, the main load-bearing sling assembly is fully tensioned to bear the overall load of the heavy object.

[0008] Preferably, the main load-bearing sling assembly includes an outer load-bearing sling connected to the crossbeam segments on both sides of the edge, and an inner load-bearing sling connected to the crossbeam segment in the middle. Based on the difference in travel distance in the spatial arrangement, during the upward lifting of the main load-bearing component, the outer load-bearing sling is the first to tighten. At this time, the tension-triggered self-locking joint is still in the unlocked state. The tightened outer load-bearing sling forces the crossbeam segments on both sides to be lifted and bent relative to the middle, so that the corresponding electromagnetic chucks can overcome the empty travel of vertical sliding first and apply an upward lifting force to the edge of the steel plate they are adsorbed. At this time, the electromagnetic chuck in the middle is still within the tolerance range of the empty travel and does not bear the tension, thereby forcing the edge of the adsorbed steel plate to bend first to break the interlayer vacuum negative pressure. Then the self-locking triggered special sling assembly tightens, and the trigger tension-triggered self-locking joint rigidly solidifies and locks the multi-segment articulated crossbeam assembly in a pre-arched posture with the crossbeam segments on both sides slightly upturned. Finally, the inner load-bearing sling tightens, and the multi-segment articulated crossbeam assembly, which is already in a rigid solidified state, begins to bear the overall heavy load.

[0009] Preferably, the tension-triggered self-locking joint includes a multi-friction plate clutch. The flywheel end of the multi-friction plate clutch and the driven shaft are respectively fixedly connected to the hinge points of two adjacent crossbeam segments. A release pressure block is sleeved and fixedly connected to the release bearing of the multi-friction plate clutch. A return spring is provided between the release pressure block and one of the crossbeam segments. The return spring is used to drive the release pressure block away from the pressure plate of the multi-friction plate clutch. A guide wedge is also slidably connected between the release pressure block and this crossbeam segment. The guide wedge has a guide slope corresponding to the release pressure block, and the top of the guide wedge is fixedly connected to the self-locking trigger special sling assembly.

[0010] Preferably, when the self-locking trigger sling assembly pulls the guide wedge upward, the guide wedge, through the guide ramp, squeezes the separation block towards the pressure plate and moves horizontally axially, causing multiple friction plates in the multi-friction plate clutch to press together. The engagement state of the multi-friction plate clutch restricts the relative rotation of two adjacent crossbeam segments. When the self-locking trigger sling assembly loosens, the guide wedge moves downward under gravity, and the reset spring drives the separation block to reset, thus disengaging the multi-friction plate clutch.

[0011] Preferably, an energy-storing buffer spring is connected in series between the guide wedge and the self-locking trigger sling assembly. When the separation block cannot continue to slide upward due to the friction disc being fully pressed, the energy-storing buffer spring is forcibly stretched to absorb the excess lifting displacement of the self-locking trigger sling assembly as the main bearing assembly continues to rise.

[0012] Preferably, the suction cup suspension assembly further includes a suspension mounting base, the top of which is fixedly connected to the bottom wall of the crossbeam segment. A vertical free travel groove is provided in the suspension mounting base, and a suction cup connecting shaft is slidably connected in the free travel groove. The electromagnetic suction cup is installed at the bottom end of the suction cup connecting shaft.

[0013] Preferably, each of the beam segments has a lifting lug fixedly connected to the center of its top surface, and the bottom ends of each branch sling of the main load-bearing sling group are fixedly connected to the corresponding lifting lug.

[0014] Preferably, when the steel stacking robot places the target steel plate on the target bearing surface and the main bearing component descends with the moving end of the truss system, the main bearing sling group and the self-locking trigger special sling group synchronously return to a relaxed and tension-free state. At this time, the tension-triggered self-locking joint loses external lifting power and automatically and synchronously unlocks, releasing the angular constraints on all crossbeam segments, so that the multi-segment hinged crossbeam assembly spontaneously returns to a flexible chain state by gravity.

[0015] This invention provides a steel stacking robot. It has the following beneficial effects:

[0016] 1. This invention deconstructs the load-bearing frame into multiple single-axis hinged crossbeam segments and, in conjunction with a free-travel suction cup suspension structure, allows the robotic arm to bend and slide back entirely under its own weight during the descent phase. This eliminates the geometric interference between the flat rigid body and the wavy curved surface, enabling full-area magnetic coupling of the electromagnetic array. Simultaneously, by utilizing the span difference between the inner and outer sides of the main load-bearing sling and the free-travel suction cup suspension structure, a specific timing sequence is constructed. At the moment of lifting, the outer sling preemptively tightens and lifts the flexible edge crossbeam, forcibly pulling the two ends of the steel plate to warp preferentially, while the central suction cup remains within the slip tolerance zone unaffected by tension. This edge-prying action allows external air to precisely penetrate the plate joints, dismantling the negative pressure boundary of the bottom plate during flight, thus eliminating the risk of heavy objects falling off.

[0017] 2. This invention uses a self-locking trigger special sling assembly in conjunction with a multi-friction plate clutch. After the edge warping action is completed, the trigger sling lifts the guide wedge block. The inclined plane force amplification effect instantly transforms the crossbeam frame, which is in a slightly warped state on both sides, into a rigid state. Through this pre-arching and solidification mechanism, when the load is fully loaded, the downward force of the load just offsets the initial arching, forming a bending-resistant space truss base. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention;

[0019] Figure 2 This is a side view of the present invention;

[0020] Figure 3This is a schematic diagram of the suction cup suspension assembly in this invention;

[0021] Figure 4 This is a side view of the tension-triggered self-locking joint in this invention;

[0022] Figure 5 This is a frontal view of the tension-triggered self-locking joint in this invention;

[0023] Figure 6 This is a three-dimensional structural diagram of the tension-triggered self-locking joint in this invention.

[0024] The components include: 1. Main load-bearing assembly; 2. Truss system; 3. Multi-segment articulated beam assembly; 301. Beam segment; 4. Suction cup suspension assembly; 401. Electromagnetic suction cup; 402. Suspension mounting base; 4021. Free travel groove; 403. Suction cup connecting shaft; 5. Tension-triggered self-locking joint; 501. Multi-friction plate clutch; 502. Separation pressure block; 503. Return spring; 504. Guide wedge; 6. Main load-bearing sling assembly; 601. Outer load-bearing sling; 602. Inner load-bearing sling; 7. Self-locking trigger special sling assembly; 8. Energy storage buffer spring; 9. Lifting lug. Detailed Implementation

[0025] 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.

[0026] Please see the appendix Figure 1 - Appendix Figure 6This invention provides a steel stacking robot that couples the physical differences in spatial geometry with a purely mechanical force-locking mechanism. It utilizes the single vertical power output from a truss system 2 to reconstruct internal stress, achieving passive conformal fitting of irregular curved steel plates and absolute rigidity during heavy-duty handling. The steel stacking robot includes a main load-bearing component 1, which is fixedly connected to the moving end of the truss system 2 via a flange. Below the main load-bearing component 1 are multiple hinged beam assemblies 3, each comprising multiple beam segments 301 that are sequentially hinged end-to-end. Each beam segment 301 is equipped with a suction cup suspension assembly 4, which includes an electromagnetic suction cup 401. The electromagnetic suction cup 401 has a vertical sliding idle stroke relative to the beam segment 301. Tension-triggered self-tensioning mechanisms are provided at the hinge points of adjacent beam segments 301. A main load-bearing sling assembly 6 is provided between the locking joint 5, the main load-bearing component 1, and the multi-segment articulated beam assembly 3. A self-locking triggering sling assembly 7 is provided between the main load-bearing component 1 and the tension-triggered self-locking joint 5. When the main load-bearing component 1 is in a slack state, the tension-triggered self-locking joint 5 is in an unlocked state, and each hinge point of the multi-segment articulated beam assembly 3 is in a free rotation state. When the main load-bearing component 1 is driven upward by the truss system 2, the main load-bearing sling assembly 6 preferentially transmits upward lifting force to the beam segments 301 located on both sides of the edge, causing the beam segments 301 located on both sides of the edge to bend and lift locally while each hinge point is in a free rotation state. Subsequently, the self-locking triggering sling assembly 7 is tensioned and pulled upward to trigger the tension-triggered self-locking joint 5 to restrict the rotation of each hinge point. Finally, as the main load-bearing component 1 continues to rise, the main load-bearing sling assembly 6 is fully tensioned to bear the overall load of the heavy object.

[0027] The top of the main load-bearing component 1 is rigidly and securely connected to the moving end of the existing truss system 2 in the external factory via a standard flange. In actual industrial stacking production lines, the truss system 2 provides the entire steel stacking robot with a unique three-dimensional spatial translation coordinate and linear lifting and lowering power along the vertical direction.

[0028] Within the working space directly below the main load-bearing component 1, a multi-segment articulated crossbeam assembly 3 is suspended. The skeleton structure of the multi-segment articulated crossbeam assembly 3 completely breaks away from the rigid limitations of a traditional single continuous main beam bearing the overall bending moment. It comprises multiple crossbeam segments 301 arranged discretely along the horizontal longitudinal direction. Adjacent crossbeam segments 301 are sequentially hinged end-to-end. In a natural suspension state without external interference, this connection method endows the skeleton with single-degree-of-freedom bending characteristics, forming a compliant chain capable of local relative rotation in the vertical plane.

[0029] Each crossbeam segment 301 is independently equipped with a suction cup suspension assembly 4 for adsorption and gripping functions. The end actuating component of the suction cup suspension assembly 4 is an electromagnetic chuck 401. The electromagnetic chuck 401 does not maintain an absolute static distance from the crossbeam segment 301 above, but rather retains a vertical sliding idle stroke relative to the corresponding crossbeam segment 301 under strict geometric constraints.

[0030] In order to control the structural stiffness of the multi-segment articulated beam assembly 3 during the heavy-load lifting phase, a tension-triggered self-locking joint 5 is provided at each physical articulation junction of adjacent beam segments 301.

[0031] Two sets of flexible sling networks are connected in parallel between the main load-bearing component 1 and the lower multi-segment hinged crossbeam assembly 3. Among them, the main load-bearing sling group 6 for bearing the static load of the target steel plate is arranged between the main load-bearing component 1 and each crossbeam segment 301.

[0032] Meanwhile, a separate self-locking trigger sling assembly 7, which does not bear the weight of the load, is installed between the main load-bearing assembly 1 and the mechanical drive end of each tension-triggered self-locking joint 5. By utilizing the physical dimensional differences between the main load-bearing sling assembly 6 and the self-locking trigger sling assembly 7 in terms of absolute spatial length and planar anchoring position, the single uniform upward force generated by the moving end of the truss system 2 is decomposed into a strict mechanical sequence of prioritizing the lifting of the outer side, then triggering locking, and finally bearing the full load.

[0033] The main load-bearing sling assembly 6 includes an outer load-bearing sling 601 connected to the two side crossbeam segments 301 at the edges, and an inner load-bearing sling 602 connected to the middle crossbeam segment 301. Due to the difference in travel distance in the spatial arrangement, during the upward lifting process of the main load-bearing assembly 1, the outer load-bearing sling 601 tightens first. At this time, the tension-triggered self-locking joint 5 is still in the unlocked state. The tightened outer load-bearing sling 601 forces the two side crossbeam segments 301 to lift and bend relative to the middle, so that the corresponding electromagnetic chuck 401 overcomes the empty travel of vertical sliding first. The edge of the steel plate it adsorbs is subjected to an upward lifting force. At this time, the electromagnetic chuck 401 located in the middle is still within the tolerance range of the empty stroke and does not bear the tension. This forces the edge of the adsorbed steel plate to be lifted first to break the interlayer vacuum negative pressure. Then, the self-locking trigger special sling group 7 is tightened. The trigger tension triggers the self-locking joint 5 to rigidly solidify and lock the multi-section articulated crossbeam assembly 3 in a pre-arched posture with the crossbeam segments 301 on both sides slightly raised. Finally, the inner bearing sling 602 is tightened, and the multi-section articulated crossbeam assembly 3, which is in a rigid solidified state, begins to bear the overall heavy load.

[0034] The suction cup suspension assembly 4 also includes a suspension mounting base 402. The top of the suspension mounting base 402 is fixedly connected to the bottom wall of the crossbeam segment 301. A vertical free travel groove 4021 is provided in the suspension mounting base 402. A suction cup connecting shaft 403 is slidably connected in the free travel groove 4021. The electromagnetic suction cup 401 is installed at the bottom end of the suction cup connecting shaft 403.

[0035] In this embodiment, the multiple beam segments 301 of the multi-segment hinged beam assembly 3 are all rectangular hollow steel boxes with excellent compressive section modulus. In the initial state where the tension-triggered self-locking joint 5 has not intervened to lock, each beam segment 301 retains only a single boundary degree of freedom to rotate independently in the gravity plane.

[0036] The suction cup suspension assembly 4 not only serves to physically mount the electromagnetic chuck 401, but also acts as a mechanism to interrupt the initial rigid lifting force and provide partial contact relief. The suction cup suspension assembly 4 includes the electromagnetic chuck 401, the suspension mounting base 402, and the suction cup connecting shaft 403.

[0037] The top of the suspension mount 402 is directly fixed to the center of the bottom wall of the corresponding upper crossbeam segment 301 by fasteners. The main body of the mount is a metal cylinder in the shape of an inverted hollow cylinder. On the two outer walls of the suspension mount 402 along the vertical direction, two rectangular grooves of a specific length are symmetrically milled through, thereby constructing a free-stroke slide groove 4021 for guiding internal components in the physical space.

[0038] The suction cup connecting shaft 403 is made of a high-rigidity solid rod, which is coaxially inserted into the inner cavity of the suspension mounting base 402 and slidably connected thereto. A rigid limiting pin is radially traversed and fixedly connected to the upper middle part of the suction cup connecting shaft 403. Both ends of the limiting pin precisely extend into the interior of the free-travel grooves 4021 on both sides, and its cross-sectional dimensions are tightly matched with the width of the grooves. The cooperation between the limiting pin and the free-travel grooves 4021 completely seals the circumferential rotational freedom of the suction cup connecting shaft 403, while strictly limiting its linear sliding only within the geometric boundaries defined by the longitudinal length dimension of the grooves.

[0039] When the main load-bearing component 1 does not provide an upward lifting force, the limit pin of the suction cup connecting shaft 403 is stably stopped and locked at the upper limit of the empty travel groove 4021, thereby reserving a whole section of physical empty travel for passive retraction in the lifting direction for subsequent force application.

[0040] The tension-triggered self-locking joint 5 includes a multi-friction plate clutch 501. The flywheel end of the multi-friction plate clutch 501 and the driven shaft are respectively fixedly connected to the hinge points of two adjacent crossbeam segments 301. A release pressure block 502 is sleeved and fixedly connected to the release bearing of the multi-friction plate clutch 501. A return spring 503 is provided between the release pressure block 502 and one of the crossbeam segments 301. The return spring 503 is used to drive the release pressure block 502 away from the pressure plate of the multi-friction plate clutch 501. A guide wedge 504 is also slidably connected between the release pressure block 502 and this crossbeam segment 301. The guide wedge 504 has a guide slope corresponding to the release pressure block 502, and the top of the guide wedge 504 is fixedly connected to the self-locking trigger special sling assembly 7.

[0041] When the self-locking trigger special sling assembly 7 pulls the guide wedge 504 upward, the guide wedge 504 is pushed by the guide inclined surface to the separation pressure block 502 and moves horizontally axially toward the pressure plate, so that multiple sets of friction plates in the multi-friction plate clutch 501 are pressed together. The engagement state of the multi-friction plate clutch 501 restricts the relative rotation of two adjacent crossbeam segments 301. When the self-locking trigger special sling assembly 7 is relaxed, the guide wedge 504 moves downward under gravity, and the reset spring 503 drives the separation pressure block 502 to reset, thereby disengaging the multi-friction plate clutch 501.

[0042] An energy storage buffer spring 8 is connected in series between the guide wedge 504 and the self-locking trigger special sling assembly 7. When the separation block 502 cannot continue to slide upward due to the friction disc being fully pressed, the energy storage buffer spring 8 is forcibly stretched to absorb the excess lifting displacement of the self-locking trigger special sling assembly 7 as the main bearing component 1 continues to rise.

[0043] In this invention, an independent tension-triggered self-locking joint 5 is installed at the physical hinge point where any two adjacent crossbeam segments 301 intersect. The friction torque generating device of this joint is a heavy-duty multi-friction plate clutch 501.

[0044] The multi-friction disc clutch 501 includes multiple alternating active friction discs and multiple driven friction discs. Its flywheel end, i.e., the outer gear ring of the active friction disc, is tightly fitted and fixedly connected to the side wall of a crossbeam segment 301, which serves as the front connection reference. Its driven shaft, i.e., the inner splined hub of the driven friction disc, is coaxially and rigidly fixedly connected to the hinge center of the adjacent subsequent crossbeam segment 301.

[0045] A release bearing is coaxially arranged on the outer side of the multi-friction plate clutch 501. A release pressure block 502 for transmitting axial pressure is sleeved and rigidly fixed to the outer metal race of the release bearing. The translation of the release pressure block 502 toward the pressure plate of the multi-friction plate clutch 501 will eliminate the microscopic backlash between the friction plates and establish positive pressure.

[0046] A return spring 503 is provided on the end face of the release block 502 away from the pressure plate for releasing the locked state. One end of the return spring 503 is fixedly connected to the release block 502, and the other end is fixedly connected to the outer fixed housing of an adjacent crossbeam segment 301. The continuous thrust of the return spring 503 is used to drive the release block 502 to always maintain a tendency to move away from the pressure plate of the multi-friction clutch 501.

[0047] In this invention, the core of the power conversion for driving the separation block 502 to overcome the spring resistance and generate displacement is the guide wedge 504. The guide wedge 504 is confined within the vertical guide rail on the side wall of the crossbeam segment 301 and is only in a vertical sliding connection with the crossbeam segment 301.

[0048] The guide wedge 504 has its side facing the separating pressure block 502 precisely machined into a guide slope. The separating pressure block 502 also has a corresponding slope, and the two precisely abut and fit together. The top of the guide wedge 504 physically protrudes from the housing and is fixedly connected to the end of the self-locking trigger special sling assembly 7 from above.

[0049] When the self-locking trigger sling assembly 7 receives the lifting power from the main load-bearing assembly 1 and pulls the guide wedge 504 upward, the guide wedge 504 slides upward along the vertical guide rail. During the vertical sliding process, the inclined geometry of the guide ramp forces the separation pressure block 502, which is in contact with it, to produce a horizontal axial displacement toward the pressure plate.

[0050] Based on the classic force amplification principle of the wedge mechanism, the conventional lifting force applied by the sling to the top of the wedge is amplified dramatically, thereby causing multiple sets of friction plates in the multi-friction plate clutch 501 to engage and press tightly together. The enormous static friction torque generated by this engagement completely restricts the relative rotation of two adjacent crossbeam segments 301.

[0051] Conversely, when the main load-bearing assembly 1 stops lifting, causing the self-locking trigger special sling assembly 7 to relax, the guide wedge 504 loses external lifting traction and moves downward under its own weight. The squeezing effect of the guide ramp disappears, and the reset spring 503 releases its elastic force, driving the separation pressure block 502 to retract axially to its original position, causing the layers of the multi-friction plate clutch 501 to separate and the joint to unlock.

[0052] Each beam segment 301 has a lifting lug 9 fixedly connected to the center of its top surface, and the bottom ends of each branch sling of the main load-bearing sling group 6 are fixedly connected to the corresponding lifting lug 9.

[0053] In this invention, the tension interaction area for lifting heavy objects is concentrated at the spine center of the multi-segment hinged crossbeam assembly 3. Each crossbeam segment 301 has a heavy-duty lifting lug 9 rigidly fixedly connected to its top center.

[0054] The main load-bearing sling assembly 6 bears the entire lifting weight load of the robotic arm array and the target steel plate it adsorbs. Its upper end harness is bundled and bound to the central reference component inside the main load-bearing assembly 1 in the form of braids or flanged cables. The bottom ends of the individual branch slings stripped from the lower end of the main load-bearing sling assembly 6 cross the suspended area and are respectively inserted and fixedly connected to the lifting lugs 9 on the top surface of the corresponding crossbeam segment 301 below.

[0055] The main load-bearing sling assembly 6 includes an outer load-bearing sling 601 and an inner load-bearing sling 602, which are separately configured for lifting requirements at specific locations. The outer load-bearing sling 601 spans to the outermost end of the manipulator, and its lower end is anchored to the lifting lugs 9 on the two crossbeam segments 301 located on both sides of the outermost edge of the multi-segment crossbeam. Correspondingly, the lower end of the inner load-bearing sling 602 has a smaller span and is anchored nearby to the lifting lugs 9 on the crossbeam segment 301 located in the middle of the multi-segment crossbeam.

[0056] The self-locking trigger-dedicated sling assembly 7 is detached from the direct force transmission chain for transporting heavy objects, and its upper end is also bound to the main load-bearing assembly 1. During the descent, each of its subdivided slings directly avoids the load-bearing top surface of the crossbeam segment 301 and vertically descends into the hinged gap area between adjacent crossbeam segments 301.

[0057] The branch ends of the self-locking trigger-dedicated sling assembly 7 establish a rigid traction connection with the top of the guide wedge 504 inside the tension-triggered self-locking joint 5. This invention establishes a strict three-stage sling tensioning sequence. By calibrating the absolute spatial rope length from the main load-bearing component 1 to each connection point, an inviolable stroke tensioning sequence is set: the absolute span required for the outer load-bearing sling 601 to be taut is the smallest, followed by the self-locking trigger-dedicated sling assembly 7, and the absolute span of the inner load-bearing sling 602 is the largest. This arrangement gives the system a time difference in action: first pulling the outer side, then triggering locking, and finally applying force to the center.

[0058] The self-locking trigger special sling assembly 7 poses a structural interference risk during the initial lifting window. When the guide wedge 504 is pulled up, causing the friction clutch to lock and hold, the sling assembly will face the risk of breaking beyond its tensile strength due to the continuous high-level ascent of the main load-bearing component 1.

[0059] In this invention, an energy-storing buffer spring 8 is vertically connected in series between the top hanging ring of the guide wedge block 504 and the cable end connector of the self-locking trigger special sling assembly 7. This spring assembly is constructed by stacking multiple sets of high fatigue limit disc springs or heavy-duty cylindrical tension springs.

[0060] When the separation block 502 is completely pressed shut by the friction disc and the guide wedge 504 can no longer make any upward vertical sliding displacement, as the main load-bearing component 1 continues to rise with the truss system 2, the traction displacement difference will be forcibly introduced into the energy storage buffer spring 8.

[0061] The energy-storing buffer spring 8 undergoes forced tensile deformation under stress. This not only absorbs the excess rigid lifting displacement at the bottom of the self-locking trigger special sling assembly 7, preventing brittle breakage of the sling under extreme load; at the same time, the high elastic potential energy accumulated by the spring during the tensile phase change continuously and constantly feeds back to the top of the guide wedge block 504, ensuring that the pressing interface of the multi-friction plate clutch 501 does not experience any loosening or pressure relief during the long high-altitude transfer cycle.

[0062] When the steel stacking robot places the target steel plate on the target bearing surface and the main bearing component 1 descends with the moving end of the truss system 2, the main bearing sling group 6 and the self-locking trigger special sling group 7 synchronously return to a relaxed and tension-free state. At this time, the tension trigger self-locking joint 5 loses external lifting power and automatically unlocks synchronously, releasing the angular constraints on all crossbeam segments 301, so that the multi-segment hinged crossbeam assembly 3 spontaneously returns to a flexible chain state by gravity.

[0063] In this invention, in response to the technical defect of existing planar electromagnetic lifting tools that easily cause multiple layers of steel plates to be simultaneously attracted and fall off during the handling of stacked thin plates, a mechanical timing peeling mechanism based on the spatial stroke difference of the rigging and the tolerance of the end suction cup slide rail is established.

[0064] When the main load-bearing component 1 begins to rise and be subjected to force, according to the aforementioned span setting, the outer load-bearing sling 601 is the first to reach a physically taut state. At this time, since the self-locking trigger dedicated sling group 7 is not yet tensioned, the tension trigger self-locking joint 5 is completely unlocked, and the multi-segment articulated beam assembly 3 still maintains its flexible and bendable characteristics.

[0065] The taut outer support cable 601 forcibly pulls upwards the crossbeam segments 301 located on both sides of the edge. Under the action of the flexible hinge, the crossbeam segments 301 on both sides bend and lift locally relative to the crossbeam segment 301 in the middle. This lifting exhausts the idle travel groove 4021 on the outer suction cup connecting shaft 403, driving the outer electromagnetic chuck 401 to apply an upward pulling force to the edge of the target steel plate. At the same time, because the inner support cable 602 is not taut and there is an idle travel tolerance in the middle, the electromagnetic chuck 401 in the middle does not bear the lifting force and is pressed against the belly of the steel plate as a physical fulcrum. This forces the edges of both ends of the steel plate to warp first, tearing the plate boundary and completely destroying the interlayer vacuum negative pressure that causes adhesion.

[0066] After the steel plate edge has completed warping and peeling, the self-locking trigger special sling assembly 7 reaches the tautness threshold and is instantly tensioned. Its powerful lifting guide wedge 504 presses the multi-friction plate clutch 501 tightly. Since the two side beam segments 301 are in an upward bending state at this time, the tension trigger self-locking joint 5 rigidly solidifies and locks the entire multi-segment articulated beam assembly 3 in a pre-arched posture with slightly warped sides.

[0067] As the lifting operation reaches its final stage, the inner supporting sling 602 is fully taut. The target steel plate is subjected to a heavy load on the solidified beam frame. The static force of the descent and the dynamic load of the lifting precisely offset the pre-camber bending of the frame, causing the truss system 2 under load to tend towards straightness. This positive feedback design, which transforms the peeling bending into bending prestress, gives the robot the structural stiffness to resist low-frequency oscillations under full load.

[0068] In this invention, during the initial stage of executing conventional stacking instructions, the truss system 2 drives the main load-bearing component 1 to vertically lower the entire robotic arm.

[0069] During the lowering process, the system is in a relaxed, tension-free environment. At this time, the tension-triggered self-locking joint 5 loses external lifting power, and the guide wedge 504 retracts to a low position under gravity. The separation pressure block 502 moves away from the pressure plate under the strong push of the return spring 503, and the multi-friction plate clutch 501 is in a disengaged state. The multi-segment articulated crossbeam assembly 3 is then released from all angular constraints, and spontaneously bends and droops due to its distributed mass, precisely conforming to the three-dimensional macroscopic curvature of the irregular steel plate on the surface of the material pile. Simultaneously, the suction cup connecting shaft 403 at each contact point spontaneously moves upward within the corresponding idle stroke groove 4021, further mitigating the rigid impact of local high points through vertical sliding, thus facilitating the full-area seamless magnetic attraction preparation of all electromagnetic suction cups 401.

[0070] After the target steel plate is energized and locked, the truss system 2 initiates the uniform lifting process of the main load-bearing component 1. During the initial lifting stroke, the responses of the various mechanisms in the system exhibit strict stratification differences. The outer load-bearing slings 601 are tightened first, lifting the two side crossbeam segments 301 around the hinge points and upwards. The outer electromagnetic chucks 401 overcome the idle stroke and lift both ends of the steel plate, while the central chuck silently bears the pressure, allowing external air to smoothly enter the gaps between the plates and disintegrate the negative pressure adhering to the bottom plate.

[0071] The system enters the pre-arching rigid locking stage. After the peeling occurs, the self-locking trigger special sling assembly 7 tensions and pulls up the guide wedge 504, locking the multi-friction plate clutch 501. The frame is maintained in the pre-arched shape with both ends raised. The overload displacement caused by the continuous lifting of the main load-bearing assembly 1 is smoothly absorbed by the energy storage buffer spring 8 and converted into a lasting locking force.

[0072] The system transitions to the overall rigid load-bearing stage. Finally, the inner load-bearing sling 602 is tensioned, and all idle travel chutes reach their top positions. The overall gravity of the steel plate presses downwards against the pre-arched rigid frame. The crossbeams experience flattening stress, and the wide, thin plates being escorted and suspended are securely transferred to the unloading position.

[0073] The system returns to the unlock and reset phase. The target steel plate descends onto the load-bearing surface, and the electromagnetic chuck 401 demagnetizes and releases. As the main load-bearing component 1 descends slightly, the internal tension of all slings dissipates. The tension-triggered self-locking joint 5 loses traction and unlocks spontaneously. The internal stress of the manipulator is released, and it loosens and falls back to its initial soft and compliant chain configuration, closing the single-cycle flow.

[0074] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A steel stacking robot, comprising a main load-bearing component (1), characterized in that, The main load-bearing component (1) is fixedly connected to the moving end of the truss system (2) via a flange. Multiple articulated beam assemblies (3) are provided below the main load-bearing component (1). Each articulated beam assembly (3) includes multiple beam segments (301) that are sequentially hinged end-to-end. A suction cup suspension assembly (4) is installed below each beam segment (301), including an electromagnetic suction cup (401). The electromagnetic suction cup (401) has a vertical sliding free travel relative to the beam segment (301). A tension-triggered self-locking joint (5) is provided at the hinge point of adjacent beam segments (301). A main load-bearing sling assembly (6) is provided between the main load-bearing component (1) and the multiple articulated beam assemblies (3). A tension-triggered self-locking joint (5) is provided between the main load-bearing component (1) and the tension-triggered self-locking joint (5). The main load-bearing assembly (1) is equipped with a self-locking trigger sling assembly (7). When the main load-bearing assembly (1) is in a descent and relaxation state, the tension trigger self-locking joint (5) is in an unlocked state, and each hinge point of the multi-segment articulated beam assembly (3) is in a free rotation state. When the main load-bearing assembly (1) is driven upward by the truss system (2), the main load-bearing sling assembly (6) preferentially transmits upward lifting force to the beam segments (301) located on both sides of the edge, so that the beam segments (301) located on both sides of the edge undergo local bending and lifting in the state of free rotation of each hinge point. Then, the self-locking trigger sling assembly (7) is tensioned and pulled upward to trigger the tension trigger self-locking joint (5) to limit the rotation of each hinge point. Finally, as the main load-bearing assembly (1) continues to rise, the main load-bearing sling assembly (6) is fully tensioned to bear the overall load of the heavy object.

2. The steel stacking robot according to claim 1, characterized in that, The main load-bearing cable assembly (6) includes an outer load-bearing cable (601) connected to the two side beam segments (301) at the edges, and an inner load-bearing cable (602) connected to the middle beam segment (301). Due to the difference in travel distance in the spatial arrangement, during the upward lifting process of the main load-bearing assembly (1), the outer load-bearing cable (601) is the first to tighten. At this time, the tension-triggered self-locking joint (5) is still in the unlocked state. The tightened outer load-bearing cable (601) forces the two side beam segments (301) to be lifted and bent relative to the middle, so that the corresponding electromagnetic chuck (401) overcomes the vertical sliding first. During the empty stroke, an upward lifting force is applied to the edge of the steel plate it adsorbs. At this time, the electromagnetic chuck (401) located in the middle is still within the tolerance range of the empty stroke and does not bear the tension, thereby forcing the edge of the adsorbed steel plate to be lifted first to break the interlayer vacuum negative pressure. Then the self-locking trigger special sling group (7) is tightened, and the trigger tension triggers the self-locking joint (5) to rigidly solidify and lock the multi-section hinged crossbeam assembly (3) in a pre-arched posture with the crossbeam segments (301) on both sides slightly raised. Finally, the inner bearing sling (602) is tightened, and the multi-section hinged crossbeam assembly (3), which is in a rigid solidified state, begins to bear the overall heavy load.

3. The steel stacking robot according to claim 1, characterized in that, The tension-triggered self-locking joint (5) includes a multi-friction plate clutch (501). The flywheel end of the multi-friction plate clutch (501) and the driven shaft are respectively fixedly connected to the hinge points of two adjacent crossbeam segments (301). A separation pressure block (502) is sleeved and fixedly connected on the release bearing of the multi-friction plate clutch (501). A return spring (503) is provided between the separation pressure block (502) and one of the crossbeam segments (301). The return spring (503) is used to drive the separation pressure block (502) away from the pressure plate of the multi-friction plate clutch (501). A guide wedge (504) is also slidably connected between the separation pressure block (502) and this crossbeam segment (301). A guide slope corresponding to the separation pressure block (502) is opened on the guide wedge (504), and the top of the guide wedge (504) is fixedly connected to the self-locking trigger special sling assembly (7).

4. A steel stacking robot according to claim 3, characterized in that, When the self-locking trigger special sling assembly (7) pulls the guide wedge (504) upward, the guide wedge (504) squeezes the separation block (502) through the guide inclined surface to make horizontal axial displacement in the direction of the pressure plate, so that multiple sets of friction plates in the multi-friction plate clutch (501) are pressed together. The relative rotation of two adjacent crossbeam segments (301) is restricted by the engagement state of the multi-friction plate clutch (501). When the self-locking trigger special sling assembly (7) loosens, the guide wedge (504) moves downward under gravity, and the reset spring (503) drives the separation block (502) to reset, thereby disengaging the multi-friction plate clutch (501).

5. A steel stacking robot according to claim 3, characterized in that, An energy storage buffer spring (8) is connected in series between the guide wedge (504) and the self-locking trigger special sling assembly (7). When the separation block (502) cannot continue to slide upward due to the friction disc being fully pressed, the energy storage buffer spring (8) is forcibly stretched to absorb the excess lifting displacement of the self-locking trigger special sling assembly (7) as the main bearing assembly (1) continues to rise.

6. A steel stacking robot according to claim 1, characterized in that, The suction cup suspension assembly (4) also includes a suspension mounting base (402), the top of which is fixedly connected to the bottom wall of the crossbeam segment (301). A vertical free travel groove (4021) is provided in the suspension mounting base (402), and a suction cup connecting shaft (403) is slidably connected in the free travel groove (4021). The electromagnetic suction cup (401) is installed at the bottom end of the suction cup connecting shaft (403).

7. A steel stacking robot according to claim 1, characterized in that, Each of the beam segments (301) has a lifting lug (9) fixedly connected to the center of its top surface, and the bottom ends of each branch sling of the main load-bearing sling group (6) are fixedly connected to the corresponding lifting lug (9).

8. A steel stacking robot according to claim 1, characterized in that, When the steel stacking robot places the target steel plate on the target bearing surface and the main bearing component (1) descends with the moving end of the truss system (2), the main bearing sling group (6) and the self-locking trigger special sling group (7) synchronously return to a relaxed and tension-free state. At this time, the tension trigger self-locking joint (5) loses external lifting power and automatically unlocks synchronously, releasing the angular constraints on all crossbeam segments (301), so that the multi-segment hinged crossbeam assembly (3) spontaneously returns to a flexible chain state by gravity.

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