CN102030288B - Elevator mechanism of automatic stacking device and control method - Google Patents

Elevator mechanism of automatic stacking device and control method Download PDF

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Publication number
CN102030288B
CN102030288B CN201010604977.6A CN201010604977A CN102030288B CN 102030288 B CN102030288 B CN 102030288B CN 201010604977 A CN201010604977 A CN 201010604977A CN 102030288 B CN102030288 B CN 102030288B
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lifting
hoist cylinder
control
slow speed
brick
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CN102030288A (en
Inventor
陈德军
张凤林
赵向宇
何为莹
韩双锁
庞团结
宋建波
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Luoyang MCC Heavy Industry Group Co., Ltd.
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LUOYANG ZHONGYE HEAVY INDUSTRIAL MACHINERY Co Ltd
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Abstract

The invention discloses an elevator mechanism of an automatic stacking device. The elevator mechanism of the automatic stacking device comprises a hoisting cylinder and a connecting frame; a cylinder body of the hoisting cylinder is fixed on a horizontal walking frame; a piston rod of the hoisting cylinder is hinged with the connecting frame; a guide post which is arranged on the connecting frame slides in a guide sleeve on the horizontal walking frame; the elevator mechanism also comprises a hoisting control device and a position induction mechanism; the hoisting control device comprises a double-pump oil supply unit, a multi-stage pressure control unit and a control balance loop unit; the control balance loop unit is connected with an inlet-outlet opening of the hoisting cylinder through a pipeline; the position induction mechanism comprises an induction ruler and an inductor; the induction ruler is fixed on the horizontal walking frame; and the inductor is fixed on the connecting frame. The elevator mechanism of the automatic stacking device has a simple structure and low failure rate; a hoisting speed of the hoisting cylinder is adjusted gradually under the control of the hoisting control device; the elevator mechanism acts steadily; positioning is accurate when unburned bricks are stacked; the danger that the hoisting cylinder does not speed up suddenly or the speed is out of control is avoided; and the elevator mechanism of the automatic stacking device and the control method are safe and reliable, and guarantee the quality of brick stacking.

Description

The lifting mechanism of automatic docking device and control method
Technical field
The present invention relates to the automatic piling device of briquet, specifically a kind of vertical lifting mechanism of automatic docking device and control method.
Background technology
The mud bar of extruding by the compressing briquet of brick machine or crowded brick producing machine is cut into piece through blank cutter, briquet in a row is transported on belt transmission agency by brick-clamping device or brick cutting machine, belt-driving drives adobe to move forward, like this, plural number row's briquet according to certain arranged with interval on belt transmission agency, plural number row's briquet is by the manipulator of stacking mechanism, by briquet according to certain spacing, and adjacent two layers adobe will be carried out 90 ° of cross code and be placed on kiln car, neat to guarantee yard piled bricks going out, upper and lower adobe overlap joint is firm, in follow-up dry and calcining process, be not easy to collapse.
In the palletizing apparatus of current domestic use, lifting mechanism adopts connecting rod lifting structure, and complicated in mechanical structure is located inaccurately, when piling up piled bricks, easily falls brick or slotting brick, and level easily misplaces, and causes piled bricks to pile up of low quality, and adobe is vulnerable to destroy.The palletizing apparatus complicated in mechanical structure of using at present, fault rate is high, and degree of automation is low, inefficiency, the needs of timely piling are carried out in the adobe in enormous quantities that can not meet production.
Summary of the invention
Technical matters to be solved by this invention is to provide vertical lifting mechanism and the control method of the automatic docking device of a kind of simple in structure, stable working, accurate positioning.
The present invention solves the problems of the technologies described above adopted technical scheme to be: a kind of lifting mechanism of automatic docking device, be arranged on walking in a horizontal state frame, lifting mechanism comprises hoist cylinder and link span, the cylinder body of hoist cylinder is fixed on walking in a horizontal state frame, piston rod and the link span of hoist cylinder are hinged, in the orienting sleeve of the guide pillar arranging on link span on walking in a horizontal state frame, slide, also comprise apparatus for controlling of lifting and location sensitive mechanism, apparatus for controlling of lifting comprises double pump oil supply unit, multistage pressure control unit and control unit, balanced loop, controlling unit, balanced loop is connected with hoist cylinder oil inlet and outlet by pipeline, location sensitive mechanism comprises induction ruler and inductor, induction ruler is fixed on walking in a horizontal state frame, inductor is fixed on link span.Described double pump oil supply unit comprises large discharge pump, small displacement pump and motor, and motor is connected with the common coaxial of small displacement pump with large discharge pump.Described multistage pressure control unit comprises multistage pressure control cock and pilot pressure control cock, and multistage pressure control cock is connected with small displacement pump discharge, and pilot pressure control cock is connected with large discharge pump outlet.
Described unit, control balanced loop comprises externally controlled type balance cock, Double throttle check valve, little latus rectum 3-position 4-way solenoid directional control valve, large latus rectum 3-position 4-way solenoid directional control valve and safety valve, little latus rectum 3-position 4-way solenoid directional control valve is in parallel with large latus rectum 3-position 4-way solenoid directional control valve after connecting with Double throttle check valve, parallel connection is connected with externally controlled type balance cock after confluxing, and externally controlled type balance cock is connected with hoist cylinder rod chamber hydraulic fluid port with safety valve simultaneously.
On described induction ruler, vertical distribution has sensor block, and the spacing of sensor block is highly identical with adobe, and sensor block quantity is identical with the number of plies of brick.
The lift control method of the lifting mechanism of automatic docking device is:
(1), the vertical lifting mechanism descending at slow speed that slows down after fast-descending certain distance after moving to above belt feeder on walking in a horizontal state frame, continue to enter standby position and stop action after decline certain distance;
(2), lifting mechanism on walking in a horizontal state frame, move to above belt feeder when brick folding position enters brick folding operation, by apparatus for controlling of lifting, control hoist cylinder and start descending at slow speed, hoist cylinder stops action while arriving brick folding position, after brick folding completes, apparatus for controlling of lifting is controlled hoist cylinder and is started to rise at a slow speed, after rising certain distance, start fast rise, rise again and rise at a slow speed after certain distance, after rising to rising stop bit, hoist cylinder stops action, and described rising stop bit is the maximum position that lifting mechanism can promote;
(3), lifting mechanism enters while putting brickwork order move to kiln car on walking in a horizontal state frame above, apparatus for controlling of lifting is controlled hoist cylinder and is started fast-descending from rising stop bit, after decline certain distance, start descending at slow speed, hoist cylinder stops action after arriving and putting brick position, complete and put after brick, after the first fast rise certain distance of hoist cylinder, then rise at a slow speed after rising stop bit, stop moving;
(4), according to the order of step (1), step (2) and step (3), complete the circulation of brick folding piling next time.
The control method of described lifting mechanism is the control to stop-descending at slow speed of hoist cylinder standby position-whole working cycle process that stop-fast-descending-standby position of the rising-fast rise-stop-fast rise of stop-fast-descending-descending at slow speed-decline that rises at a slow speed-rise-rise at a slow speed-rising stops at a slow speed by apparatus for controlling of lifting, realize hoist cylinder at the action request of each operation, when standby position standby, multistage pressure control unit is controlled large discharge pump and the off-load simultaneously of small displacement pump in double pump oil supply unit, control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, large latus rectum 3-position 4-way solenoid directional control valve is all in meta locking states, hoist cylinder is slack, large discharge pump off-load and small displacement pump low pressure that during descending at slow speed, multistage pressure control unit is controlled in double pump oil supply unit load, and control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, large latus rectum 3-position 4-way solenoid directional control valve all in the oil-filled position of rodless cavity, large discharge pump off-load and small displacement pump high pressure that while rising at a slow speed, multistage pressure control unit is controlled in double pump oil supply unit load, and control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, large latus rectum 3-position 4-way solenoid directional control valve all in the oil-filled position of rod chamber, the large discharge pump high pressure that during fast rise, multistage pressure control unit is controlled in double pump oil supply unit loads and the loading of small displacement pump high pressure, controls unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, large latus rectum 3-position 4-way solenoid directional control valve all in the oil-filled position of rod chamber, the multistage pressure control unit while stopping that rising is controlled large discharge pump and the off-load simultaneously of small displacement pump in double pump oil supply unit, controls unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, large latus rectum 3-position 4-way solenoid directional control valve all in meta locking states, large discharge pump and small displacement pump low pressure that during fast-descending, multistage pressure control unit is controlled in double pump oil supply unit load, and control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, large latus rectum 3-position 4-way solenoid directional control valve all in the oil-filled position of rodless cavity.
The invention has the beneficial effects as follows: simple in structure, failure rate is low, hoist cylinder is progressively adjusted rising or falling speed under the control of apparatus for controlling of lifting, stable action, accurate positioning while piling up adobe, hoist cylinder there will not be unexpected acceleration or speed danger out of control, safe and reliable, guarantees that piled bricks piles up quality.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is lift cylinders hydraulic principle figure of the present invention.
Fig. 3 is lift cylinders controlled circulation diagram of circuit of the present invention
Mark in figure: 1, walking in a horizontal state frame, 2, hoist cylinder, 3, cylinder body, 4, piston rod, 5, hinged-support, 6, link span, 7, guide pillar, 8, orienting sleeve, 9, apparatus for controlling of lifting, 10, induction ruler, 11, sensor block, 12, inductor, 13, double pump oil supply unit, 131, small displacement pump, 132, large discharge pump, 133, motor, 14, multistage pressure control unit, 141, multistage pressure control cock, 142, pilot pressure control cock, 15, control unit, balanced loop, 151, externally controlled type balance cock, 152, Double throttle check valve, 153, little latus rectum 3-position 4-way solenoid directional control valve, 154, large latus rectum 3-position 4-way solenoid directional control valve, 155, safety valve, 16, pumping plant.
The specific embodiment
As shown in Figure 1, a kind of lifting mechanism of automatic docking device is arranged on walking in a horizontal state frame 1, the cylinder body 3 of hoist cylinder 2 is fixed on walking in a horizontal state frame 1, and the piston rod 4 of hoist cylinder 2 is connected with link span 6 by hinged-support 5, and link span 6 is for installing the manipulator mechanism of palletizing apparatus.The guide pillar 7 arranging on link span 6 is located in the orienting sleeve 8 on walking in a horizontal state frame 1, in the orienting sleeve of guide pillar on walking in a horizontal state frame, slides.Hoist cylinder 2 drives link span 6 liftings when flexible, and is led by guide pillar 7 and orienting sleeve 8, guarantees the vertical easy motion of link span 6.Also comprise apparatus for controlling of lifting 9 and location sensitive mechanism, location sensitive mechanism comprises induction ruler 10 and inductor 12, and induction ruler 10 is fixed on walking in a horizontal state frame 1, and on induction ruler 10, vertical distribution has sensor block 11, and the quantity of sensor block 11 is identical with the number of plies stacking bricks.On link span 6, be provided with the inductor corresponding with induction ruler 10 12, inductor 12 is arranged on the top of guide pillar 7.During link span 6 lifting, inductor 12 can sense the sensor block 11 on induction ruler 10, and the spacing of sensor block 11 is highly identical with adobe, sensor block 11 quantity are identical with the number of plies of brick, commonly using is 10 to 16 layers, senses the number of times of sensor block 11 according to inductor 12, determines the number of plies that stacks bricks at every turn and pile up.The control of hoist cylinder 2 by apparatus for controlling of lifting 9 and location sensitive mechanism realizes the link span 6 up-and-down movements line speed of going forward side by side and controls and positioning control.
Realize the control of hoist cylinder as shown in Figure 2: apparatus for controlling of lifting 9 is connected with hoist cylinder 2 by pipeline, apparatus for controlling of lifting 9 comprises double pump oil supply unit 13, multistage pressure control unit 14 and controls unit, balanced loop 15, double pump oil supply unit 13 is connected by pipeline with multistage pressure control unit 14, multistage pressure control unit 14 is connected by pipeline with control unit, balanced loop 15, controls unit, balanced loop 15 and is connected with two hydraulic fluid ports of hoist cylinder 2 by pipeline.Double pump oil supply unit 13 comprises large discharge pump 132, small displacement pump 131 and motor 133, and in double pump oil supply unit 13, motor 133 drags small displacement pump 131 and large discharge pump 132 by same axis.Multistage pressure control unit 14 comprises multistage pressure control cock 141 and pilot pressure control cock 142, multistage pressure control cock 141 is connected with 131 outlets of small displacement pump, pilot pressure control cock 142 is connected with large discharge pump 132 outlets, small displacement pump 131 outlet oil pressures are controlled by multistage pressure control cock 141, large discharge pump 132 outlet oil pressures are controlled by pilot-operated pressure control valve 142, after two delivery side of pump conflux, by pressure duct, transfer to and control unit, balanced loop 15, control unit, balanced loop 15 and comprise externally controlled type balance cock 151, Double throttle check valve 152, little latus rectum 3-position 4-way solenoid directional control valve 153, large latus rectum 3-position 4-way solenoid directional control valve 154 and safety valve 155, little latus rectum 3-position 4-way solenoid directional control valve 153 is in parallel with large latus rectum 3-position 4-way solenoid directional control valve 154 after connecting with Double throttle check valve 152, parallel connection is connected with externally controlled type balance cock 151 after confluxing, externally controlled type balance cock 151 is connected with hoist cylinder 2 rod chamber hydraulic fluid ports with safety valve 155 simultaneously.
The lift control method of the lifting mechanism of automatic docking device is:
(1), the lifting mechanism descending at slow speed that slows down after fast-descending certain distance after moving to above belt feeder on walking in a horizontal state frame, continue to enter standby position and stop action after decline certain distance;
(2) when, the lifting mechanism in standby position enters brick folding operation, by apparatus for controlling of lifting, control hoist cylinder and start descending at slow speed, hoist cylinder stops action while arriving brick folding position, after brick folding completes, apparatus for controlling of lifting is controlled hoist cylinder and is started to rise at a slow speed, after rising certain distance, start fast rise, then rise at a slow speed after the certain distance that rises, rise to rising stop bit after hoist cylinder stop action;
(3), lifting mechanism enters while putting brickwork order move to kiln car on walking in a horizontal state frame above, apparatus for controlling of lifting is controlled hoist cylinder and is started fast-descending from rising stop bit, after decline certain distance, start descending at slow speed, hoist cylinder stops action after arriving and putting brick position, complete and put after brick, after the first fast rise certain distance of hoist cylinder, then rise at a slow speed after rising stop bit and stop action;
(4), according to the order of step (1), step (2) and step (3), complete the circulation of brick folding piling next time.
Its specific works process is as follows:
As Fig. 2 and Fig. 3, when hoist cylinder is in until brick folding position, multistage pressure control unit 14 is controlled large discharge pump 132 and 131 off-loads simultaneously of small displacement pump in double pump oil supply unit 13, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valve 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in meta locking states, wait brick folding that hoist cylinder 2 is slack, when entering brick folding operation, start descending at slow speed, large discharge pump 132 off-loads and small displacement pump 131 low pressure that multistage pressure control unit 14 is controlled in double pump oil supply unit 13 load, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valve 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in the oil-filled position of rodless cavity, hoist cylinder arrives brick folding position, after brick folding completes, start to rise at a slow speed, large discharge pump 132 off-loads and small displacement pump 131 high pressure that multistage pressure control unit 14 is controlled in double pump oil supply unit 13 load, control balanced loop 15 unit medium and small latus rectum 3-position 4-way solenoid directional control valves 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in the oil-filled position of rod chamber, arriving rises accelerates behind position, start fast rise, large discharge pump 132 high pressure that multistage pressure control unit 14 is controlled in double pump oil supply unit 13 load and the 131 high pressure loadings of small displacement pump, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valve 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in the oil-filled position of rod chamber, hoist cylinder 2 arrives to rise and slows down behind position, start to rise at a slow speed, large discharge pump 132 off-loads and small displacement pump 131 high pressure that while rising at a slow speed, multistage pressure control unit 14 is controlled in double pump oil supply unit 13 load, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valve 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in the oil-filled position of rod chamber, rise to after rising stop bit, rising stops, multistage pressure control unit 14 is controlled large discharge pump 132 and 131 off-loads simultaneously of small displacement pump in double pump oil supply unit 13, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valve 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in meta locking states, enter while putting brickwork order, from rising stop bit, start fast-descending, large discharge pump 132 and small displacement pump 131 low pressure that multistage pressure control unit 14 is controlled in double pump oil supply unit 13 load, control balanced loop 15 unit medium and small latus rectum 3-position 4-way solenoid directional control valves 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in the oil-filled position of rodless cavity, dropping to declines slows down behind position, start descending at slow speed, large discharge pump 132 off-loads and small displacement pump 131 low pressure that multistage pressure control unit 14 is controlled in double pump oil supply unit 13 load, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valve 153, large latus rectum 3-position 4-way solenoid directional control valve 154 is all in the oil-filled position of rodless cavity, arrival is put behind brick position and is declined and stop, complete to put after brick and return and treat brick folding position by the speed control sequence of rising and decline, complete the rise and fall circulation of a brick folding piling.
It is same as the prior art that the present invention does not state part.

Claims (6)

1. the lifting mechanism of an automatic docking device, be arranged on walking in a horizontal state frame (1), lifting mechanism comprises hoist cylinder (2) and link span (6), the cylinder body of hoist cylinder (2) is fixed on walking in a horizontal state frame (1), the piston rod of hoist cylinder (2) and link span (6) are hinged, in the orienting sleeve (8) of the upper guide pillar (7) arranging of link span (6) on walking in a horizontal state frame (1), slide, it is characterized in that: also comprise apparatus for controlling of lifting (9) and location sensitive mechanism, apparatus for controlling of lifting (9) comprises double pump oil supply unit (13), multistage pressure control unit (14) and control unit, balanced loop (15), controlling unit, balanced loop (15) is connected with hoist cylinder (2) oil inlet and outlet by pipeline, location sensitive mechanism comprises induction ruler (10) and inductor (12), induction ruler (10) is fixed on walking in a horizontal state frame (1), inductor (12) is fixed on link span (6).
2. the lifting mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: described double pump oil supply unit (13) comprises large discharge pump (132), small displacement pump (131) and motor (133), motor (133) is connected with small displacement pump (131) with large discharge pump (132) by same axis.
3. the lifting mechanism of a kind of automatic docking device as claimed in claim 2, it is characterized in that: described multistage pressure control unit (14) comprises multistage pressure control cock (141) and pilot pressure control cock (142), multistage pressure control cock (141) is connected with small displacement pump (131) outlet, and pilot pressure control cock (142) is connected with large discharge pump (132) outlet.
4. the lifting mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: described unit, control balanced loop (15) comprises externally controlled type balance cock (151), Double throttle check valve (152), little latus rectum 3-position 4-way solenoid directional control valve (153), large latus rectum 3-position 4-way solenoid directional control valve (154) and safety valve (155), little latus rectum 3-position 4-way solenoid directional control valve (153) is in parallel with large latus rectum 3-position 4-way solenoid directional control valve (154) after connecting with Double throttle check valve (152), parallel connection is connected with externally controlled type balance cock (151) after confluxing, externally controlled type balance cock (151) is connected with the rod chamber hydraulic fluid port of hoist cylinder (2) with safety valve (155) simultaneously.
5. the lifting mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: the upper vertical distribution of described induction ruler (10) has sensor block (11), the spacing of sensor block (11) is highly identical with adobe, and sensor block (11) quantity is identical with the number of plies of brick.
6. the control method of the lifting mechanism of automatic docking device as claimed in claim 1, is characterized in that: lift control method is:
(1), the lifting mechanism descending at slow speed that slows down after fast-descending certain distance after moving to above belt feeder on walking in a horizontal state frame, continue to enter standby position and stop action after decline certain distance;
(2) when, the lifting mechanism in standby position enters brick folding operation, by apparatus for controlling of lifting, control hoist cylinder and start descending at slow speed, hoist cylinder stops action while arriving brick folding position, after brick folding completes, apparatus for controlling of lifting is controlled hoist cylinder and is started to rise at a slow speed, after rising certain distance, start fast rise, then rise at a slow speed after the certain distance that rises, rise to rising stop bit after hoist cylinder stop action;
(3), lifting mechanism enters while putting brickwork order move to kiln car on walking in a horizontal state frame above, apparatus for controlling of lifting is controlled hoist cylinder and is started fast-descending from rising stop bit, after decline certain distance, start descending at slow speed, hoist cylinder stops action after arriving and putting brick position, complete and put after brick, after the first fast rise certain distance of hoist cylinder, then stop action after rising at a slow speed rising stop bit;
(4), according to the order of step (1), step (2) and step (3), complete the circulation of brick folding piling next time.
CN201010604977.6A 2010-12-25 2010-12-25 Elevator mechanism of automatic stacking device and control method Active CN102030288B (en)

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CN102515059A (en) * 2011-12-17 2012-06-27 苏州先锋物流装备科技有限公司 Electric piling car
CN102442622A (en) * 2011-12-17 2012-05-09 苏州先锋物流装备科技有限公司 Stacking car with lifting and speed-limiting device
CN102431936A (en) * 2011-12-19 2012-05-02 苏州先锋物流装备科技有限公司 Piling car with limiting function
CN104295542A (en) * 2014-09-15 2015-01-21 南通凯迪自动机械有限公司 Pneumatic circuit used for stacking yarn balls
CN104858756A (en) * 2015-05-28 2015-08-26 河北新兴铸管有限公司 Nodular cast iron pipe ring cutting device
CN106429995B (en) * 2016-12-16 2019-03-29 宁波力达物流设备有限公司 The pallet fork descending method of the pallet fork lowering means of electri forklift
CN109822566A (en) * 2019-01-15 2019-05-31 北京镁伽机器人科技有限公司 Robot control method, system and storage medium
CN110817765A (en) * 2019-10-16 2020-02-21 金华深联网络科技有限公司 Safety protection system for personnel at forklift working site

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Address after: 471003 Qinling Mountains Road, Jianxi District, Luoyang, Henan

Patentee after: Luoyang MCC Heavy Industry Group Co., Ltd.

Address before: 471003 Qinling Mountains Road, Jianxi District, Luoyang, Henan

Patentee before: Luoyang Zhongye Heavy Industrial Machinery Co., Ltd.