Classified discharging and stacking device for angle steel parts

Abstract

The utility model belongs to the field of angle steel piece production, and relates to an angle steel piece classifying, discharging and stacking device which comprises a truss robot installed on a truss, a short material storage tray placed below the truss, and a short material conveying line, a transverse moving machine, a long material conveying line, a second transverse moving machine, a long material conveying line and a first transverse moving machine which are arranged on the rear side of the short material storage tray from back to front. The short material conveying line and transverse moving machine, the long material conveying line and transverse moving machine II and the long material conveying line and transverse moving machine I all comprise conveying lines and crossed transverse moving machines, and the front ends of the crossed transverse moving machines of the short material conveying line and transverse moving machine, the long material conveying line and transverse moving machine I and the long material conveying line and transverse moving machine II are located on the corresponding right-end conveying lines. The short material conveying line and the transverse moving machine and the cross transverse moving machine of the long material conveying line and the second transverse moving machine are located on the rear sides of the corresponding conveying lines, and the cross transverse moving machine of the long material conveying line and the first transverse moving machine is located on the front side of the corresponding conveying line. The device is high in intelligent degree, single-type angle steel materials are single in flow direction, and follow-up centralized transfer is facilitated.

Description

Technical Field

[0001] The utility model belongs to the technical field of angle steel piece production, and in particular relates to a device for classifying, blanking and stacking angle steel pieces. Background Art

[0002] Angle steel, commonly known as angle iron, is a long strip of steel with two sides perpendicular to each other. Angle steel is promoted and used for its good structural stability and strong rigidity. It is widely used in various building structures and engineering structures, such as power transmission towers, beams and bridges.

[0003] The existing production line of angle steel parts for power transmission towers is usually a single-machine production with manual unloading. The degree of automation of angle steel production is low and the labor intensity of manual work is high. At present, when unloading angle steel parts, they are manually unloaded and classified according to the classification mark of the material list and the part number, which is easy to make mistakes and inefficient. In addition, robots or trusses unloading now use full pallets to store angle steel parts, which increases the logistics transfer volume of full pallets and cannot adapt to the discrete manufacturing of power transmission towers and the logistics rotation characteristics of small batches and multiple batches of angle steel parts. Summary of the invention

[0004] The purpose of the utility model is to provide a device for classifying and stacking angle steel parts to solve the technical problems raised in the above background technology. The technical solution adopted by the utility model is as follows:

[0005] Angle steel parts classification unloading and stacking device includes a three-dimensional mobile truss robot installed on a truss, a short material storage tray of a frame structure is placed under the truss, and a short material conveyor line and a transverse moving machine, a long material conveyor line and a transverse moving machine 2 and a long material conveyor line and a transverse moving machine 1 are arranged in sequence on the rear side of the short material storage tray from back to front. The short material conveyor line and the transverse moving machine, the long material conveyor line and the transverse moving machine 2 and the long material conveyor line and the transverse moving machine 1 all include conveyor lines and a plurality of cross transverse moving machines. The conveyor line length of the long material conveyor line and the transverse moving machine 1 is greater than the conveyor line length of the short material conveyor line and the transverse moving machine, and the conveyor line length of the long material conveyor line and the transverse moving machine 2 is greater than the conveyor line length of the short material conveyor line and the transverse moving machine. The length of the conveyor line is greater than that of the long material conveyor line and transverse machine one. The left ends of the conveyor lines of the short material conveyor line and transverse machine, the long material conveyor line and transverse machine one and the long material conveyor line and transverse machine two are located below the truss, and the right ends of the conveyor lines are located outside the truss. The front ends of the cross-transverse machines of the short material conveyor line and transverse machine, the long material conveyor line and transverse machine one and the long material conveyor line and transverse machine two are located on their respective right end conveyor lines. The cross-transverse machines of the short material conveyor line and transverse machine and the long material conveyor line and transverse machine two are located at the rear sides of their respective conveyor lines. The cross-transverse machine of the long material conveyor line and transverse machine one is located at the front side of the conveyor line of the long material conveyor line and transverse machine one.

[0006] Preferably, the conveyor line includes a roller line, which is movably mounted on a roller line bracket, and the roller line includes two parallel roller line side beams, a plurality of parallel roller brackets are mounted above the two roller line side beams, the roller is rotatably mounted on the roller brackets, a roller line motor is installed below the roller line, and the output shaft of the roller line motor is transmission-connected to the chain drive mechanism on the roller.

[0007] Preferably, the roller line bracket includes six vertical support columns symmetrically arranged in pairs, and two upper and lower horizontal reinforcement beams are welded between adjacent vertical support columns. Movable limit grooves corresponding to the vertical support columns are respectively provided at both ends and the middle of the roller line side beam, and the top ends of the vertical support columns are inserted into the movable limit grooves. Four lifting cylinders are installed in pairs in the middle position of the upper horizontal reinforcement beam, and the piston rod ends of the lifting cylinders abut against the lower surface of the roller line side beam.

[0008] Preferably, a translation machine drive motor is installed at the right end of the roller line bracket, and a plurality of translation chain transmission mechanisms corresponding to the cross translation machines are arranged on the output shaft of the translation machine drive motor, and the translation chain transmission mechanism is connected to the translation chain transmission of the cross translation machine.

[0009] Preferably, a primary stopper cylinder is installed in the middle of the side of the cross-translation machine, the upper end of the primary stopper cylinder piston rod is connected to the primary stopper, and a secondary stopper of an L-shaped structure is installed at the rear end of the cross-translation machine.

[0010] Preferably, the truss includes four vertical support columns, the upper ends of the vertical support columns are connected to two horizontal support beams in the length direction, the truss robot includes: a magnetic gripper, two X-axis brackets, a Y-axis bracket and a Z-axis bracket, the two X-axis brackets are arranged in parallel, and the two ends of the two X-axis brackets are respectively connected to the left and right ends of the horizontal support beam, an X-axis sliding guide rail is arranged on the upper surface of the X-axis bracket, and the two ends of the Y-axis bracket are slidably installed on the X-axis sliding guide rail, and X-axis driving devices are respectively arranged on the two ends of the Y-axis bracket, a Y-axis sliding guide rail is arranged on the upper surface of the Y-axis bracket, a fixed plate is slidably installed on the Y-axis sliding guide rail, a Y-axis driving device is installed on the fixed plate, a Z-axis sliding guide rail in the vertical direction is arranged on the fixed plate, the Z-axis bracket is slidably installed on the Z-axis sliding guide rail, and a Z-axis driving device is installed on the fixed plate, the Z-axis bracket is an inverted T-shaped structure, and magnetic grippers are installed on both ends of the lower crossbeam of the Z-axis bracket.

[0011] Preferably, the short material storage pallet includes supporting columns distributed at four corners, a pallet horizontal supporting beam is welded between two adjacent supporting columns, and two parallel auxiliary supporting beams are welded at the middle position of the two pallet horizontal supporting beams in the length direction.

[0012] Preferably, a plurality of groups of anti-dumping devices are arranged in the center of the lifting plane of the short material storage tray, and each group of anti-dumping devices includes two symmetrically arranged fixed columns, and the two ends of the flat plate are welded at the bottom of the two symmetrical fixed columns.

[0013] Preferably, bolt through holes are provided at both ends of the plate, a slot in the length direction is provided on the upper surface of the auxiliary support beam, the head of the bolt is slidably installed in the slot, and the screw end of the bolt passes through the bolt through hole and is screwed into the nut.

[0014] The beneficial effects achieved by the utility model are:

[0015] 1. High degree of intelligence, replacing manual sorting, good accuracy and high efficiency; 2. Single-type angle steel materials have a single flow direction, which is convenient for subsequent centralized transfer; 3. The conveyor line cooperates with the translation machine to store angle steel parts on the conveyor line side, replacing the full pallet, which is more suitable for the production mode of angle steel parts with small batches and multiple varieties of discrete manufacturing. The switching between material stacks is more efficient than the full pallet mode, which increases the equipment transfer rate by about 20%. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the angle steel piece classification unloading and stacking device according to an embodiment of the utility model;

[0018] Figure 2 A three-dimensional diagram of a short material conveying line and a transverse shifting machine according to an embodiment of the utility model;

[0019] Figure 3 It is a left view of the short material conveying line and the transverse shifting machine of the embodiment of the utility model;

[0020] Figure 4 A three-dimensional diagram of a long material conveying line and a transverse shifting machine according to an embodiment of the present utility model;

[0021] Figure 5 A three-dimensional diagram of a truss robot according to an embodiment of the present utility model;

[0022] Figure 6 A three-dimensional diagram of a short material storage tray according to an embodiment of the utility model;

[0023] Figure 7 A top view of a short material storage tray according to an embodiment of the utility model;

[0024] Among them, 1. Truss robot, 2. Short material conveyor line and transverse machine, 3. Long material conveyor line and transverse machine 1, 4. Short material storage pallet, 5. Truss, 6. Magnetic hand gripper, 7. Cross translation machine, 8. Roller line, 9. Support column, 10. Fixed column, 11. Roller line motor, 12. Roller line bracket, 13. Translation machine drive motor, 14. Lifting cylinder, 15. First-level stopper, 16. First-level stopper cylinder, 17. Second-level stopper, 18. Flat plate, 19. Notch, 20. Pallet horizontal support beam, 21. Long material conveyor line and transverse machine 2. DETAILED DESCRIPTION

[0025] The technical solution of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present utility model, rather than all of the embodiments.

[0026] like Figure 1 As shown, the angle steel piece classification unloading and stacking device comprises a truss 5 , and a truss robot 1 is movably installed on the truss 5 . The short material storage pallet 4 is placed on the ground below the truss 5, and the rear side of the short material storage pallet 4 is arranged from back to front in sequence with a short material conveyor line and transverse machine 2, a long material conveyor line and transverse machine 21, and a long material conveyor line and transverse machine 1 3. The conveying line length of the long material conveyor line and transverse machine 1 3 is greater than the conveying line length of the short material conveyor line and transverse machine 2, and the conveying line length of the long material conveyor line and transverse machine 21 is greater than the conveying line length of the long material conveyor line and transverse machine 1 3. The conveying lines of the short material conveyor line and transverse machine 2, the long material conveyor line and transverse machine 1 3, and the long material conveyor line and transverse machine 21 at the left ends are located on the ground below the truss 5, and the conveying line at the right end is located on the ground outside the truss 5. The front end of the cross-transverse machine 7 of the short material conveyor line and transverse machine 2, the long material conveyor line and transverse machine 1 3, and the long material conveyor line and transverse machine 21 is connected to the conveying line at their right ends.

[0027] like Figure 2 , 3As shown, the short material conveyor line and transverse machine 2 include a roller line bracket 12, which is a three-dimensional frame structure welded from profiles, including six vertical support columns symmetrically arranged in pairs, and two layers of upper and lower horizontal reinforcement beams are welded between adjacent vertical support columns to improve the mechanical support strength of the roller line bracket 12. The roller line 8 is movably installed on the top of the roller line bracket 12, and the roller line 8 includes two parallel roller line side beams in the length direction, and a plurality of parallel roller brackets are fixedly installed above the two roller line side beams, and the roller driven by the chain transmission mechanism is rotatably installed on the roller bracket. The specific movable installation structure of the roller line 8 is as follows: movable limit grooves corresponding to the vertical support columns are respectively provided at both ends and the middle of the roller line side beams, and the top of the vertical support column is inserted into the movable limit groove of the roller line side beam. Four lifting cylinders 14 opposite to each other are fixedly installed in pairs at the middle position of the upper horizontal reinforcement beam through a bolt structure, and the piston rod end of the lifting cylinder 14 abuts against the lower surface of the roller line side beam. A drum line motor 11 is fixedly installed on the ground below the left end of the drum line 8, and the output shaft of the drum line motor 11 is connected to the chain transmission mechanism on the drum. Several cross-translation machines 7 are fixedly installed on the right side of the drum line 8, and the spacing between the several cross-translation machines 7 gradually decreases from left to right. Different spacings can adapt to short angle steel pieces of different sizes. The cross-translation machine 7 is an existing product, and the angle steel piece is translated by a translation chain. A primary block cylinder 16 is fixedly installed in the middle of the side of the cross-translation machine 7, and the upper end of the piston rod of the primary block cylinder 16 is fixedly connected to the primary block 15, and a secondary block 17 of an L-shaped structure is fixedly installed at the rear end of the cross-translation machine 7. A translation machine drive motor 13 is fixedly installed at the right rear end of the drum line bracket 12, and a plurality of translation chain transmission mechanisms corresponding to the cross-translation machine 7 are arranged on the output shaft of the translation machine drive motor 13, and the translation chain transmission mechanism is connected to the translation chain of the cross-translation machine 7. The front end of the translation chain of the cross-translation machine 7 is located between the two drums of the drum line 8.

[0028] like Figure 4 As shown, the long material conveyor line and transverse machine 3 have the same structure as the short material conveyor line and transverse machine 2, except that the length of the long material conveyor line and transverse machine 3 is greater than that of the short material conveyor line and transverse machine 2, and the installation direction of the cross-translation machine 7 on the long material conveyor line and transverse machine 3 is opposite to the installation direction of the cross-translation machine 7 on the short material conveyor line and transverse machine 2.

[0029] The long material conveyor line and transverse machine 21 has the same structure as the long material conveyor line and transverse machine 1 3, except that the length of the long material conveyor line and transverse machine 21 is greater than that of the long material conveyor line and transverse machine 1 3, and the installation direction of the cross-translation machine 7 on the long material conveyor line and transverse machine 21 is opposite to the installation direction of the cross-translation machine 7 on the long material conveyor line and transverse machine 1 3.

[0030] like Figure 5As shown, the truss 5 includes four vertical support columns fixedly mounted on the ground, and the upper ends of the vertical support columns are fixedly connected to two horizontal support beams in the length direction. The truss robot 1 includes: a magnetic hand gripper 6, two X-axis brackets, a Y-axis bracket and a Z-axis bracket. The two X-axis brackets are arranged in parallel, and the two ends of the two X-axis brackets are respectively fixedly connected to the left and right ends of the horizontal support beams in the length direction. The upper surface of the X-axis bracket is provided with an X-axis sliding guide rail, and the lower surfaces of the two ends of the Y-axis bracket are slidably mounted on the X-axis sliding guide rail. The two ends of the Y-axis bracket are respectively provided with an X-axis driving device, and the Y-axis bracket is driven by the X-axis driving device to achieve horizontal movement of the Y-axis bracket along the X-axis bracket. The upper surface of the Y-axis bracket is provided with a Y-axis sliding guide rail, and the fixed plate is slidably mounted on the Y-axis sliding guide rail. The Y-axis driving device is installed on the fixed plate, and the fixed plate is driven by the Y-axis driving device to achieve horizontal movement of the fixed plate along the Y-axis bracket. A vertical Z-axis sliding guide is provided on the fixed plate, the Z-axis bracket is slidably installed on the Z-axis sliding guide, and a Z-axis driving device is installed on the fixed plate, and the Z-axis bracket is driven by the Z-axis driving device to move vertically up and down relative to the fixed plate. The Z-axis bracket is an inverted T-shaped structure, and the two ends of the lower crossbeam of the Z-axis bracket are respectively fixedly installed with a magnetic hand grip 6. The above structural design enables the magnetic hand grip 6 to move three-dimensionally on the truss 5, and the magnetic hand grip 6 is used to grab and place angle steel parts.

[0031] A pair of magnetic grippers 6 are provided at the lower end of the Z-axis support of the truss robot 1. The dual magnetic suction design meets the requirements for grasping angle steel pieces of different lengths and specifications. The two sets of magnetic grippers 6 of the dual magnetic suction manipulator are independently controlled by the control system. Short angle steel pieces (less than 2.2 meters) are grasped by a single magnetic gripper 6, and long angle steel pieces (more than 2.2 meters) are grasped by a pair of magnetic grippers 6 at the same time, thereby realizing flexible grasping of angle steel pieces of different lengths. According to the length of the grasped angle steel pieces and their subsequent destination, the truss robot 1 places the grasped angle steel pieces to the designated position, and realizes intelligent classification and stacking according to the material classification and stacking information.

[0032] The truss robot 1 classifies and grabs materials. The host computer system places the angle steel on the conveyor line of the corresponding length according to the processing parameters set by the angle steel CNC processing system. Because the coordinates of the truss robot 1 for grabbing materials and the coordinates of the material placement are fixed, the angle steel can be directly classified, grabbed and stacked according to the parameters recorded by the host computer system.

[0033] like Figure 6 , 7As shown, the short material storage pallet 4 includes support columns 9 distributed at four corners, the bottom ends of the support columns 9 are placed on the ground, two adjacent support columns 9 are fixedly connected to the pallet horizontal support beam 20 by welding, and the middle positions of the two pallet horizontal support beams 20 in the length direction are fixedly connected to two parallel auxiliary support beams by welding. The four pallet horizontal support beams 20 and the two auxiliary support beams form a lifting plane for the short material storage pallet 4, and the lifting plane height is 400mm. Angle steel material stacks are placed on the lifting plane. In order to place multiple stacks of angle steel material stacks on the short material storage pallet 4 at one time, three sets of anti-dumping devices are arranged in the center of the lifting plane of the short material storage pallet 4, and each set of anti-dumping devices includes two symmetrically arranged fixed columns 10, and the bottoms of the two symmetrical fixed columns 10 are fixedly connected by a plate 18, and bolt through holes are opened at both ends of the plate 18. A slot 19 in the length direction is provided on the upper surface of the two auxiliary support beams. The head of the bolt is slidably installed in the slot 19. The screw end of the bolt passes through the bolt through hole on the plate 18 and is screwed into the nut to press the plate 18, so that the anti-dumping device is fixedly installed on the two auxiliary support beams. The slot 19 is provided to facilitate the adjustment of the installation position of the plate 18. The fixed column 10 is set as an adjustable structure, and the spacing between the three sets of anti-dumping devices can be manually adjusted according to the different sizes of the angle steel material stack. After the adjustment is completed, the bolts are tightened and fixed.

[0034] The process of the angle steel piece classification unloading and stacking device of the utility model is as follows:

[0035] The angle steel parts classification, unloading and stacking device is used to automatically grab and unload the angle steel parts from the production line after punching, shearing and corner cutting, and automatically classify, stack and circulate them according to the system classification information, and store them at the line side to prepare for subsequent logistics turnover.

[0036] During the production process, after the angle steel parts are punched, sheared and angle-cut in the front section of the angle steel parts production line, the upper computer system transmits the workpiece information of the angle steel parts to the control system of the truss robot 1. The control system guides the truss robot 1 to automatically grab the processed angle steel parts through the magnetic suction hand gripper 6, and stacks the angle steel parts on the corresponding conveyor line and transverse machine or on the short material storage pallet 4 according to the classification information of the angle steel parts (which have been classified in other process steps and are mainly divided into four categories: short angle steel parts that are directly put into storage and require secondary processing, and long angle steel parts that are directly put into storage and require secondary processing).

[0037] The short material conveyor line and the transverse machine 2 are responsible for conveying and carrying angle steel pieces below 2.2 meters that need to undergo subsequent secondary processing. During the production process, the control system guides the truss robot 1 to grab the angle steel pieces below 2.2 meters that need to undergo subsequent secondary processing, and stacks the angle steel pieces on the roller line 8 of the short material conveyor line and the transverse machine 2. When the stack height of the angle steel pieces reaches the stacking standard set by the system, the control system controls the lifting cylinder 14 to descend, so that the height of the translation chain of the cross translation machine 7 is slightly lower than the height of the roller of the roller line 8. The control system starts the roller line motor 11, and the roller line motor 11 drives the roller of the roller line 8 to rotate, moving the angle steel piece stack forward to the end of the short material conveyor line and the transverse machine 2 (reaching above the front end of the translation chain of the cross translation machine 7). The control system controls the lifting cylinder 14 to rise, so that the translation chain height of the cross-translator 7 is slightly higher than the roller height of the roller line 8, and the angle steel stack is transferred from the roller line 8 to the cross-translator 7. The control system starts the translation machine drive motor 13, and the translation machine drive motor 13 drives the translation chain of the cross-translator 7 to move to the rear end, and translates the angle steel stack to the short material conveyor line and the rear end buffer of the transverse machine 2. After the current batch production is completed or the storage volume of the angle steel stack reaches the set upper limit, it will be transferred to the next station by the subsequent logistics carrier (logistics carrier such as forklift).

[0038] The cross-translation machine 7 is provided with a primary block 15 and a secondary block 17, which can cache two angle steel stacks in sections on the cross-translation machine 7. At the beginning, the control system first controls the primary block cylinder 16 to rise, so that the upper end of the primary block 15 is higher than the upper surface of the cross-translation machine 7, and first translates the first angle steel stack to the front end of the primary block 15. When it is necessary to cache the second angle steel stack again, the control system controls the primary block cylinder 16 to descend, so that the upper end of the primary block 15 is lower than the upper surface of the cross-translation machine 7, and the control system starts the translation machine drive motor 13, and the translation machine drive motor 13 drives the translation chain of the cross-translation machine 7 to move to the rear end, and the first angle steel stack cached in front is placed at the front end of the secondary block 17. At the same time, the control system controls the primary block cylinder 16 to rise again, and caches the second angle steel stack behind to the front end of the primary block 15.

[0039] In the embodiment of the utility model, angle steel pieces below 2.2 meters that can be directly stored are cached in the short material storage tray 4, and two short material storage trays 4 are configured, one for backup and one for use, to improve production efficiency. The control system guides the truss robot 1 to grab the angle steel pieces below 2.2 meters that can be directly stored and place them on the short material storage tray 4, and stack them on the short material storage tray 4. When stacking, the angle steel pieces need to be placed between a pair of adjacent anti-dumping devices of the short material storage tray 4, or between the outer anti-dumping device and the two supporting columns 9.

[0040] Long material conveyor line and transverse machine 1 3 and long material conveyor line and transverse machine 2 21 are responsible for carrying and conveying angle steel pieces longer than 2.2 meters, and their working process is the same as that of short material conveyor line and transverse machine 2. Among the long material conveyor line and transverse machine 1 3 and long material conveyor line and transverse machine 2 21, one is responsible for the classified stacking and storage of angle steel pieces longer than 2.2 meters that need to undergo subsequent processing; the other is responsible for the classified stacking and storage of angle steel pieces longer than 2.2 meters that can be directly put into storage.

[0041] The working process of the angle steel parts classification unloading and stacking device provided by the embodiment of the utility model is as follows: 1. In combination with the process requirements, four different types of angle steel parts are designed: angle steel parts below 2.2 meters that are directly put into storage and those that require secondary processing; angle steel parts above 2.2 meters that are directly put into storage and those that require secondary processing; the flow directions of four different types of angle steel parts are designed: a single type of angle steel parts has a single flow direction, and the corresponding types of angle steel parts are stored using conveyor lines, transverse machines and pallets respectively. The control system controls the truss robot 1 for classification and stacking. Different types of angle steel parts are not mixed, which is convenient for subsequent logistics classification and centralized circulation. 2. Line-side storage method for angle steel parts: conveyor lines and transverse machine buffer lines are matched with short material storage pallets 4, which replace the transmission of single pallet storage or manual material rack placement, to meet the circulation needs of different types of angle steel materials, reduce pallet switching time, and improve equipment utilization rate; intelligent angle steel parts material classification and stacking are realized according to the material classification process combined with the information system. 3. The short material storage tray 4 has an adjustable structure to meet the requirements of different angle steel width specifications. One short material storage tray 4 can adapt to angle steels of various width specifications. 4. The three-axis truss is equipped with a double-headed magnetic manipulator, which can conveniently and stably grasp the angle steel. The control system of the truss robot 1 and the host computer system realize the communication and interaction of material process information.

[0042] In the embodiments of the utility model, the technical features not described in detail are all existing technologies or conventional technical means and will not be described in detail here.

[0043] Finally, it should be noted that the above embodiments are only specific implementation methods of the present utility model, which are used to illustrate the technical solution of the present utility model, rather than to limit it, and the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that any technician familiar with the technical field can modify the technical solution recorded in the above embodiments within the technical scope disclosed by the present utility model, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiment of the present utility model, and should be covered within the protection scope of the present utility model.

Claims

1. Angle steel parts sorting and stacking device, including a three-dimensional mobile truss robot installed on a truss, characterized in that: The short material storage tray of the frame structure is placed under the truss. The rear side of the short material storage tray is provided with a short material conveyor line and a transverse moving machine, a long material conveyor line and a transverse moving machine 2 and a long material conveyor line and a transverse moving machine 1 in sequence from the back to the front. The short material conveyor line and the transverse moving machine, the long material conveyor line and the transverse moving machine 2 and the long material conveyor line and the transverse moving machine 1 all include conveyor lines and a number of cross-transverse moving machines. The conveyor line length of the long material conveyor line and the transverse moving machine 1 is greater than the conveyor line length of the short material conveyor line and the transverse moving machine, and the conveyor line length of the long material conveyor line and the transverse moving machine 2 is greater than the conveyor line length of the long material conveyor line and the transverse moving machine 1 Length, the left ends of the conveying lines of the short material conveyor line and transverse machine, the long material conveyor line and transverse machine one and the long material conveyor line and transverse machine two are located below the truss, and the right ends of the conveying lines are located outside the truss; the front ends of the cross-transverse machines of the short material conveyor line and transverse machine, the long material conveyor line and transverse machine one and the long material conveyor line and transverse machine two are located on the right end conveying lines of each other; the cross-transverse machines of the short material conveyor line and transverse machine and the long material conveyor line and transverse machine two are located on the rear sides of their respective conveying lines; the cross-transverse machine of the long material conveyor line and transverse machine one is located on the front side of the conveyor line of the long material conveyor line and transverse machine one.

2. The angle steel piece classification unloading and stacking device according to claim 1 is characterized in that: The conveyor line includes a roller line, which is movably installed on a roller line bracket. The roller line includes two parallel roller line side beams. A plurality of parallel roller brackets are installed above the two roller line side beams. The roller is rotatably installed on the roller brackets. A roller line motor is installed below the roller line, and the output shaft of the roller line motor is transmission-connected to the chain transmission mechanism on the roller.

3. The angle steel piece classification unloading and stacking device according to claim 2 is characterized in that: The roller line support includes six vertical support columns arranged symmetrically in pairs, and two upper and lower horizontal reinforcement beams are welded between adjacent vertical support columns. Movable limiting grooves corresponding to the vertical support columns are respectively provided at both ends and the middle of the roller line side beam, and the top ends of the vertical support columns are inserted into the movable limiting grooves. Four lifting cylinders are installed in pairs in the middle position of the upper horizontal reinforcement beam, and the piston rod ends of the lifting cylinders abut against the lower surface of the roller line side beam.

4. The angle steel piece classification unloading and stacking device according to claim 2 is characterized in that: A translation machine driving motor is installed at the right end of the roller line bracket. A plurality of translation chain transmission mechanisms corresponding to the cross translation machines are arranged on the output shaft of the translation machine driving motor. The translation chain transmission mechanisms are connected to the translation chain transmission of the cross translation machine.

5. The angle steel piece classification unloading and stacking device according to claim 4 is characterized in that: A primary stopper cylinder is installed in the middle of the side of the cross-translation machine, the upper end of the piston rod of the primary stopper cylinder is connected to the primary stopper, and a secondary stopper of an L-shaped structure is installed at the rear end of the cross-translation machine.

6. The angle steel piece classification unloading and stacking device according to claim 1 is characterized in that: The truss includes four vertical support columns, and the upper ends of the vertical support columns are connected to two horizontal support beams in the length direction. The truss robot includes: a magnetic gripper, two X-axis brackets, a Y-axis bracket and a Z-axis bracket. The two X-axis brackets are arranged in parallel, and the two ends of the two X-axis brackets are respectively connected to the left and right ends of the horizontal support beam. An X-axis sliding guide rail is arranged on the upper surface of the X-axis bracket, and the two ends of the Y-axis bracket are slidably installed on the X-axis sliding guide rail. X-axis driving devices are respectively arranged on the two ends of the Y-axis bracket. The Y-axis sliding guide rail is arranged on the upper surface of the Y-axis bracket, and a fixed plate is slidably installed on the Y-axis sliding guide rail. The Y-axis driving device is installed on the fixed plate, and a Z-axis sliding guide rail in the vertical direction is arranged on the fixed plate. The Z-axis bracket is slidably installed on the Z-axis sliding guide rail, and the Z-axis driving device is installed on the fixed plate. The Z-axis bracket is an inverted T-shaped structure, and magnetic grippers are installed on both ends of the lower crossbeam of the Z-axis bracket.

7. The angle steel piece classification unloading and stacking device according to claim 1 is characterized in that: The short material storage pallet includes support columns distributed at four corners, a pallet horizontal support beam is welded between two adjacent support columns, and two parallel auxiliary support beams are welded between the two pallet horizontal support beams in the length direction.

8. The angle steel piece classification unloading and stacking device according to claim 7 is characterized in that: A plurality of anti-dumping devices are arranged in the center of the lifting plane of the short material storage tray. Each anti-dumping device comprises two symmetrically arranged fixed columns. The bottoms of the two symmetrical fixed columns are welded to both ends of the flat plate.

9. The angle steel piece classification unloading and stacking device according to claim 8 is characterized in that: Bolt through holes are provided at both ends of the plate, a slot in the length direction is provided on the upper surface of the auxiliary support beam, the head of the bolt is slidably installed in the slot, and the screw end of the bolt passes through the bolt through hole and is screwed into the nut.

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