Section steel stacking machine

Abstract

The utility model belongs to the technical field of steel production equipment, and relates to a profile steel stacker crane which comprises a rack, a main arm mechanism, an auxiliary arm mechanism, a horizontal driving mechanism, a vertical driving mechanism and an electromagnet. The main arm mechanism, the horizontal driving mechanism and the vertical driving mechanism are all arranged on the rack, and one end of the main arm mechanism is rotationally connected with a head support; the electromagnet is arranged on the head support and connected with the hydraulic motor, the electromagnet is driven by the hydraulic motor to turn over in the head support, and positive stacking and negative stacking of the profile steel are achieved. The auxiliary arm mechanism is arranged on the main arm mechanism, connected with the head support and used for keeping the head support balanced and making the head support parallel to the horizontal plane. The horizontal driving mechanism and the vertical driving mechanism are both connected to the main arm mechanism, and through linkage of the horizontal driving mechanism and the vertical driving mechanism, the main arm mechanism is driven to drive the head support and the electromagnet to integrally move up, down, left and right. The hydraulic motor is adopted to drive the electromagnet, low-cost overturning control is achieved, and the bearing capacity is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel production equipment and relates to a section steel stacker. Background Art

[0002] The automated steel section palletizing line is the last of many production platforms in a steel rolling mill. It's used to stack a predetermined number of rows of steel sections into tightly packed, orderly stacks of steel with defined shapes and weights. During transportation, some steel sections (such as angles and channels) are arranged in overlapping rows. The openings of adjacent layers are reversed, and the protrusions of the upper layer span the grooves of the lower layer. This minimizes space and, when stacked, creates a layered, compact structure, providing stability and preventing tilting or misalignment. This arrangement requires a flipping process during the palletizing process.

[0003] In the prior art, Chinese Utility Model Patent Publication No. CN217807408U discloses a steel section palletizing robot. Its robotic arm utilizes a parallelogram linkage mechanism. Its horizontal motion drive mechanism utilizes a first drive device consisting of a gear set and a servo drive motor, which drives a lead screw through the gear set. Its vertical motion drive mechanism utilizes a second drive device consisting of a gear set and a servo drive motor, which rotates through the gear set's gear shaft. Disadvantages of this robot include complex structures and weak load-bearing capacity. The arm end is directly connected to an electromagnet and servo motor, requiring the electromagnet to remain horizontal for most of the palletizing process, and the servo motor constantly controls the electromagnet's leveling. For steel sections with partially symmetrical cross-sections, only the stacking process is performed in a positive position, and the electromagnet does not need to be rotated. The servo motor connected to the electromagnet must remain energized and constantly controlled to maintain the electromagnet's leveling during operation, resulting in complex electrical control, high energy consumption, and a short service life for the servo motor. Utility Model Content

[0004] In view of this, the purpose of the present invention is to solve the above-mentioned problems and provide a steel section palletizer.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions:

[0006] A steel section stacker, comprising a frame, a main arm mechanism, an auxiliary arm mechanism, a horizontal drive mechanism, a vertical drive mechanism, and an electromagnet; the main arm mechanism, the horizontal drive mechanism, and the vertical drive mechanism are all arranged on the frame; one end of the main arm mechanism is rotatably connected to a head bracket; the electromagnet is arranged on the head bracket and connected to a hydraulic motor; the electromagnet is driven by the hydraulic motor to flip within the head bracket to achieve positive and negative stacking of the steel sections;

[0007] The auxiliary arm mechanism is provided on the main arm mechanism and is connected to the head support, and is used to keep the head support balanced so that the head support remains parallel to the horizontal plane;

[0008] The horizontal drive mechanism and the vertical drive mechanism are both connected to the main arm mechanism. Through the linkage of the horizontal drive mechanism and the vertical drive mechanism, the main arm mechanism is driven to drive the head bracket and the electromagnet to move up, down, left and right as a whole.

[0009] Furthermore, the frame is provided with a horizontal slide and a vertical slide; a horizontal bracket is slidably mounted on the horizontal slide, and a vertical bracket is slidably mounted on the vertical slide; the main arm mechanism is connected to both the horizontal bracket and the vertical bracket, the horizontal drive mechanism is connected to the horizontal bracket, and the vertical drive mechanism is connected to the vertical bracket. The vertical and horizontal mechanisms work together to drive the main arm mechanism, driving the head bracket and electromagnet to move up and down and left and right as a whole.

[0010] Furthermore, the main arm mechanism includes a first main arm, a first connecting rod, a second connecting rod and a second main arm; the auxiliary arm mechanism includes an adjusting connecting rod, an intermediate web and a web connecting rod; the horizontal bracket is provided with a first supporting position and a second supporting position;

[0011] One end of the first main arm is hinged to one end of the head bracket, and the other end of the first main arm is hinged to one end of the second main arm; the other end of the second main arm is hinged to the vertical bracket; one end of the first connecting rod is hinged to the middle part of the first main arm, and the other end of the first connecting rod and one end of the second connecting rod are jointly hinged to the second support position of the horizontal bracket, and the other end of the second connecting rod is hinged to the middle part of the second main arm; one end of the adjusting connecting rod is hinged to the middle part of the head bracket, and the other end is hinged to one end of the intermediate web, the other end of the intermediate web is hinged to one end of the web connecting rod, and the other end of the web connecting rod is hinged to the first support position of the horizontal bracket;

[0012] The middle portion of the intermediate web is coaxially hinged to the hinge point between the first main arm and the first connecting rod. A four-bar linkage is formed between the first main arm, the first connecting rod, the second connecting rod, and the second main arm. A four-bar linkage is formed between the first main arm, the intermediate web, the adjustment rod, and the head support. A four-bar linkage is formed between the first connecting rod, the intermediate web, the web connecting rod, and the horizontal support. The auxiliary arm mechanism moves synchronously with the main arm mechanism to keep the head support parallel to the horizontal plane.

[0013] Furthermore, threads of opposite rotation directions are provided at both ends of the adjusting connecting rod, and the first flat head and the second flat head are respectively connected to the two ends of the adjusting connecting rod by threads. The first flat head is hinged to the head bracket, and the second flat head is hinged to the middle web. The connection distance between the first flat head and the second flat head is changed by rotating the adjusting connecting rod forward or reversely, so as to adjust the angle of the head bracket and the horizontal plane.

[0014] Furthermore, the horizontal drive mechanism includes a first hydraulic cylinder, a first support, and a second support; the first hydraulic cylinder is fixed on the frame through the first support, and is connected to the horizontal support through the second support; a first displacement detection element is provided inside the first hydraulic cylinder, and the first hydraulic cylinder is equipped with a servo valve.

[0015] Furthermore, the vertical drive mechanism includes a second hydraulic cylinder, a third support, and a fourth support; the second hydraulic cylinder is fixed on the frame through the third support and is connected to the vertical support through the fourth support; a second displacement detection element is provided inside the second hydraulic cylinder, and the second hydraulic cylinder is equipped with a servo valve.

[0016] Furthermore, there is at least one group of first hydraulic cylinders in the horizontal drive mechanism, and at least one group of second hydraulic cylinders in the vertical drive mechanism.

[0017] Furthermore, the frame, the horizontal drive mechanism, and the vertical drive mechanism are all covered by a protective cover, and the main arm mechanism and the auxiliary arm mechanism extend out of the window of the protective cover.

[0018] The beneficial effects of the present invention are:

[0019] 1. The utility model adopts a combination of a main arm mechanism and an auxiliary arm mechanism, so that the electromagnet always remains horizontal during the movement. The driving hydraulic motor for the electromagnet flipping does not need to keep working all the time, but only needs to flip when the code is reversed. Flipping only requires rotating 180 degrees, which makes electrical control easy, saves energy consumption, and improves the life of the hydraulic motor for flipping control.

[0020] 2. This utility model utilizes a combination of a main arm mechanism and an auxiliary arm mechanism, enhancing the strength of the robotic arm. A hydraulic motor is used as the actuator to drive the electromagnet, making control easy and eliminating the need for a high-precision, expensive servo motor. Ordinary hydraulic motors can meet the functional requirements. Furthermore, the horizontal and vertical drive mechanisms are directly driven by hydraulic cylinders, resulting in a simple structure and strong load-bearing capacity.

[0021] 3. The hydraulic cylinder plus displacement sensor and servo valve used in the utility model have the characteristics of adjustable displacement speed and controllable start and stop time. When the servo valve receives the input signal, it can respond quickly, thereby driving each mechanism to achieve the characteristics of adjustable operating speed and controllable operating position, ensuring that rows of steel sections are stacked into tight and orderly steel section stacks with certain shape and weight requirements, achieving precise and efficient equipment, faster speed, higher stacking quality, stronger carrying capacity, and higher cost utilization rate of the stacking equipment. The equipment can reduce the labor intensity of workers and improve the quality of steel section packaging.

[0022] Other advantages, objectives, and features of the present invention will be described in detail in the following description and, to some extent, will be apparent to those skilled in the art upon examination and study of the following or may be learned from practice of the present invention. The objectives and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0024] Figure 1 This is a schematic diagram of the overall appearance structure of the utility model.

[0025] Figure 2 It is a schematic diagram of the overall internal structure of the utility model.

[0026] Figure 3 It is a schematic diagram of the main arm mechanism in the utility model.

[0027] Figure 4 This is a schematic diagram of the auxiliary arm mechanism in the utility model.

[0028] Figure 5 This is a schematic diagram of the main power framework of the utility model.

[0029] Figure 6 This is a schematic diagram of the horizontal drive mechanism of the utility model.

[0030] Figure 7 This is a schematic diagram of the vertical drive mechanism of the utility model.

[0031] Figure 8 This is a schematic diagram of the frame structure of the utility model.

[0032] Figure 9 This is a schematic diagram of the horizontal support structure of the utility model.

[0033] Figure 10 This is a schematic diagram of the head support structure of the present utility model.

[0034] Figure 11 This is a schematic diagram of the middle web structure of the utility model.

[0035] Figure 12 Schematic diagram of the positive and negative codes of the steel section of the present invention.

[0036] Figure 1: Electromagnet; 2: Hydraulic motor; 3: Main arm mechanism; 4: Auxiliary arm mechanism; 5: Horizontal drive mechanism; 6: Vertical drive mechanism; 7: Frame; 8: Protective cover; 9: Head support; 10: First main arm; 11: First connecting rod; 12: Second connecting rod; 13: Second main arm; 14: First flat head; 15: Second flat head; 16: Adjusting link; 17: Intermediate web; 18: Web connecting rod; 19: Horizontal support; 20: First slider; 21: First hydraulic cylinder; 22: First support; 23: First displacement detection element; 24: Second support; 25: Vertical support; 26: Fourth support; 27-third support; 28-second hydraulic cylinder; 29-second displacement detection element; 30-second slider; 31-conveying platform; 32-steel; 33-stacking roller; 6001-vertical mounting seat; 7001-horizontal slide; 7002-horizontal mounting position; 7003-vertical mounting position; 7004-vertical slide; 1901-first support position; 1902-second support position; 9001-first mounting hole; 9002-second mounting hole; 9003-third mounting hole; 1701-first connecting hole; 1702-second connecting hole; 1703-third connecting hole. DETAILED DESCRIPTION

[0037] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The following embodiments and the features in the embodiments can be combined with each other without conflict.

[0038] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0039] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0040] See also Figures 1 to 12 This is a steel section stacker, comprising a frame 7, an electromagnet 1, a hydraulic motor 2, a main arm mechanism 3, an auxiliary arm mechanism 4, a horizontal drive mechanism 5, and a vertical drive mechanism 6 mounted on the frame 7. The hydraulic motor 2 is connected to the electromagnet 1, driving the electromagnet to flip from 0° to 180° and is fixed to the head bracket 9 of the main arm mechanism 3. The auxiliary arm mechanism 4 is fixed to the main arm mechanism 3, keeping the head bracket 9 of the main arm mechanism 3 parallel to the horizontal plane during movement. The horizontal drive mechanism 5 and the vertical drive mechanism 6 are both connected to the main arm mechanism 3 and cooperate to drive the electromagnet 1 to move up, down, left, and right. The frame 7, horizontal drive mechanism 5, and vertical drive mechanism 6 are all covered by a protective cover 8, with the main arm mechanism 3 and auxiliary arm mechanism 4 extending out of the window of the protective cover 8.

[0041] like Figure 3 As shown, the main arm mechanism 3 includes a head support 9, a first main arm 10, a first connecting rod 11, a second connecting rod 12, and a second main arm 13. One end of the first main arm 10 is hinged to the third mounting hole 9003 of the head support 9, and the other end of the first main arm 10 is hinged to the second main arm 13. One end of the first connecting rod 11 is hinged to the middle of the first main arm 10, and the other end of the first connecting rod 11 is hinged to one end of the second connecting rod 12, and the other end of the second connecting rod 12 is hinged to the middle of the second main arm 13. The first main arm 10, the first connecting rod 11, the second connecting rod 12, and the second main arm 13 form a four-bar linkage. The auxiliary arm mechanism 4 moves synchronously with the main arm mechanism 3 to keep the head support 9 parallel to the horizontal plane.

[0042] like Figure 4As shown, the auxiliary arm mechanism 4 includes a first flat head 14, a second flat head 15, an adjustment link 16, an intermediate web 17, a web link 18, and a horizontal bracket 19. The ends of the adjustment link 16 are provided with threads of opposite rotation. The first flat head 14 and the second flat head 15 are respectively connected to the ends of the adjustment link 16 and are equipped with lock nuts. By rotating the adjustment link 16 forward or backward, the connection distance between the first flat head 14 and the second flat head 15 can be increased or decreased, thereby adjusting the angle of the head bracket 9 with the horizontal plane. The other end of the first flat head 14 is hinged to the second mounting hole 9002 of the head bracket 9, and the second flat head 15 is hinged to the first connecting hole 1701 of the intermediate web 17. The second connecting hole 1702 in the middle of the intermediate web 17 is coaxially hinged to the first main arm 10 and the end of the first connecting rod 11. The third connecting hole 1703 at the other end of the intermediate web 17 is hinged to one end of the web connecting rod 18. The other end of the web connecting rod 18 is hinged to the first support position 1901 of the horizontal bracket 19, and the first connecting rod 11 and the second connecting rod 12 are coaxially hinged to the second support position 1902 of the horizontal bracket 19.

[0043] like Figure 5 As shown, the electromagnet 1 and the hydraulic motor 2 are installed together on the first mounting hole 9001 of the head bracket 9, and the hydraulic motor 2 drives the electromagnet to flip 0°~180°; the driving movable end of the horizontal driving mechanism 5 is connected to the horizontal bracket, and the driving fixed end is fixed on the frame, and the horizontal driving mechanism 5 drives the horizontal bracket 19 to reciprocate left and right; the vertical driving mechanism 6 drives the movable end to be connected to the end of the second main arm 13 through the vertical mounting seat 6001, and the driving fixed end is fixed on the frame 7, and the vertical driving mechanism 6 drives the second main arm 13 to reciprocate up and down; through the linkage of the horizontal driving mechanism 5 and the vertical driving mechanism 6, the electromagnet 1 at the front end of the main arm mechanism 3 is driven to move left and right and up and down.

[0044] like Figure 6 As shown, the horizontal drive mechanism 5 includes a first hydraulic cylinder 21, a first slider 20, a first support 22, a first displacement detection element 23, and a second support 24. The first slider 20 and second support 24 are mounted on the bottom of the horizontal support 19. At least one set of first hydraulic cylinders 21 is fixed to the first support 22. The first hydraulic cylinders 21 are internally provided with first displacement detection elements 23. The fixed ends of the first hydraulic cylinders 21 are fixed to the first support 22, and the movable ends of the first hydraulic cylinders 21 are fixed to the second support 24. The first hydraulic cylinders 21 drive the reciprocating movement of the horizontal support 19 and are controlled by servo valves.

[0045] like Figure 7As shown, the vertical drive mechanism 6 includes a fourth support 26, a second hydraulic cylinder 28, a second displacement detection element 29, a third support 27, and a second slider 30. The second hydraulic cylinder 28 is fixed to the third support 27, and the second displacement detection element 29 is installed inside the second hydraulic cylinder 28. The movable end of the second hydraulic cylinder 28 is fixed to the vertical support 25, driving the vertical support 25 to reciprocate up and down. The second slider 30 is installed on the back of the vertical support 25. One end of the second main arm 13 is hingedly fixed to the vertical mounting base 6001 of the vertical support 25. The second hydraulic cylinder 28 is equipped with a servo valve for control.

[0046] The horizontal drive mechanism 5 is slidably connected to the horizontal slide 7001 of the frame 7 through the first slider 20, the horizontal bracket 19 and the main arm mechanism 3 thereon reciprocate on the horizontal slide 7001, the first support 22 and the first hydraulic cylinder 21 installed thereon are fixed on the horizontal mounting position 7002 of the frame 7; the vertical drive mechanism 6 is slidably connected to the vertical slide 7004 of the frame 7 through the second slider 30, the vertical bracket 25 and the main arm mechanism 3 thereon reciprocate on the vertical slide 7004, and the third support 27 and the first hydraulic cylinder 21 installed thereon are fixed on the vertical mounting position 7003 of the frame 7.

[0047] The steel palletizer in this embodiment has two ways of stacking steel: positive stacking and reverse stacking.

[0048] Stacking: The steel sections are arranged in rows on the conveying platform 31, and the rows of steel sections 32 are moved to the steel receiving position. The electromagnet 1 attracts the top of the rows of steel sections and directly places the rows of steel sections on the stacking roller 33. The stacking of one layer of steel sections is completed.

[0049] Reverse coding: The steel sections are arranged in rows on the conveying platform 31, and the rows of steel sections 32 are moved to the steel receiving position. The electromagnet of the steel section stacker flips 180°, and the electromagnet 1 moves to the bottom of the rows of steel sections 32, lifts the steel sections and sucks them, and lifts the steel sections to a safe space. The electromagnet flips the steel sections from 180° to 0°, and then places the flipped steel sections on the stacking roller 33. The reverse coding of one layer of steel sections is completed.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and are not limiting. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the utility model.

Claims

1. A steel section palletizer, characterized by: The machine comprises a frame, a main arm mechanism, an auxiliary arm mechanism, a horizontal drive mechanism, a vertical drive mechanism, and an electromagnet; the main arm mechanism, the horizontal drive mechanism, and the vertical drive mechanism are all arranged on the frame, and one end of the main arm mechanism is rotatably connected to a head bracket; the electromagnet is arranged on the head bracket and connected to a hydraulic motor. Driven by the hydraulic motor, the electromagnet flips inside the head bracket to achieve positive and negative code of the steel section; The auxiliary arm mechanism is provided on the main arm mechanism and is connected to the head support, and is used to keep the head support balanced so that the head support remains parallel to the horizontal plane; The horizontal drive mechanism and the vertical drive mechanism are both connected to the main arm mechanism. Through the linkage of the horizontal drive mechanism and the vertical drive mechanism, the main arm mechanism is driven to drive the head bracket and the electromagnet to move up, down, left and right as a whole.

2. The steel section palletizer according to claim 1, characterized in that: A horizontal slide and a vertical slide are fixed on the frame; a horizontal bracket is slidably provided on the horizontal slide, and a vertical bracket is slidably provided on the vertical slide; the main arm mechanism is connected to the horizontal bracket and the vertical bracket at the same time, the horizontal drive mechanism is connected to the horizontal bracket, and the vertical drive mechanism is connected to the vertical bracket, thereby driving the main arm mechanism to drive the head bracket and the electromagnet to move up and down and left and right as a whole.

3. The steel section palletizer according to claim 2, characterized in that: The main arm mechanism includes a first main arm, a first connecting rod, a second connecting rod and a second main arm; the auxiliary arm mechanism includes an adjusting connecting rod, an intermediate web and a web connecting rod; the horizontal bracket is provided with a first support position and a second support position; One end of the first main arm is hinged to one end of the head bracket, and the other end of the first main arm is hinged to one end of the second main arm; the other end of the second main arm is hinged to the vertical bracket; one end of the first connecting rod is hinged to the middle part of the first main arm, and the other end of the first connecting rod and one end of the second connecting rod are jointly hinged to the second support position of the horizontal bracket, and the other end of the second connecting rod is hinged to the middle part of the second main arm; one end of the adjusting connecting rod is hinged to the middle part of the head bracket, and the other end is hinged to one end of the intermediate web, the other end of the intermediate web is hinged to one end of the web connecting rod, and the other end of the web connecting rod is hinged to the first support position of the horizontal bracket; The middle part of the intermediate web is coaxially hinged on the hinge point of the first main arm and the first connecting rod. A four-bar linkage is formed between the first main arm, the first connecting rod, the second connecting rod and the second main arm. A four-bar linkage is formed between the first main arm, the intermediate web, the adjustment rod and the head bracket. A four-bar linkage is formed between the first connecting rod, the intermediate web, the web connecting rod and the horizontal bracket, so that the auxiliary arm mechanism moves synchronously with the main arm mechanism, so that the head bracket remains parallel to the horizontal plane.

4. The steel section palletizer according to claim 3, characterized in that: The two ends of the adjusting link are provided with threads of opposite rotation directions, and the first flat head and the second flat head are respectively connected to the two ends of the adjusting link by threads, the first flat head is hinged to the head bracket, and the second flat head is hinged to the middle web. The connection distance between the first flat head and the second flat head is changed by rotating the adjusting link forward or reversely to achieve the adjustment of the angle between the head bracket and the horizontal plane.

5. The steel section palletizer according to claim 2, characterized in that: The horizontal drive mechanism includes a first hydraulic cylinder, a first support, and a second support; the first hydraulic cylinder is fixed on the frame through the first support and is connected to the horizontal support through the second support; a first displacement detection element is provided inside the first hydraulic cylinder, and the first hydraulic cylinder is equipped with a servo valve.

6. The steel section palletizer according to claim 5, characterized in that: The vertical drive mechanism includes a second hydraulic cylinder, a third support, and a fourth support; the second hydraulic cylinder is fixed on the frame through the third support and is connected to the vertical support through the fourth support; a second displacement detection element is provided inside the second hydraulic cylinder, and the second hydraulic cylinder is equipped with a servo valve.

7. The steel section palletizer according to claim 1, characterized in that: The frame, the horizontal driving mechanism and the vertical driving mechanism are all covered by a protective cover, and the main arm mechanism and the auxiliary arm mechanism extend out of a window of the protective cover.

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