CN102126618A - Rotating mechanism of automatic stacking device and control method thereof - Google Patents
Rotating mechanism of automatic stacking device and control method thereof Download PDFInfo
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- CN102126618A CN102126618A CN2010106049761A CN201010604976A CN102126618A CN 102126618 A CN102126618 A CN 102126618A CN 2010106049761 A CN2010106049761 A CN 2010106049761A CN 201010604976 A CN201010604976 A CN 201010604976A CN 102126618 A CN102126618 A CN 102126618A
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- 238000000034 method Methods 0.000 title claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000003032 molecular docking Methods 0.000 claims description 13
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- 239000012530 fluid Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000011449 brick Substances 0.000 abstract description 7
- 238000009428 plumbing Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000001354 calcination Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000000748 compression moulding Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
The invention relates to a rotating mechanism of an automatic stacking device, comprising a rotating frame and a turntable bearing as well as a rotating cylinder, a rotating control device and a mechanical limiting device, wherein the rotating frame is connected with a connecting frame by virtue of the turntable bearing, the rotating cylinder is horizontally arranged, the cylinder body of the rotating cylinder is hinged with the connecting frame, a piston rod is connected with the rotating frame by virtue of a pin shaft, the rotating frame is also provided with a limit plate, and the mechanical limiting device is fixed on the connecting frame and is corresponding to the limit plate. The rotating direction and rotating speed of the rotating cylinder are controlled by the rotating control device, thus smooth speed changing is realized, and speed step and impact are avoided; meanwhile the structure of the rotating mechanism is simple, the failure rate is low, the operation is stable, the vibration and impact are less, and a stacked brick stack is firm and has small possibility of collapsing.
Description
Technical field
The present invention relates to the automatic piling device of briquet, specifically a kind of rotating mechanism of automatic docking device and control method.
Background technology
Briquet by brick machine compression moulding or extrude the mud bar that the brick machine extrudes and be cut into piece through blank cutter, briquet in a row is transported on the belt transmission agency by brick-clamping device or brick cutting machine, belt-driving drives adobe and moves forward, like this, plural number row's briquet is arranged on the belt transmission agency according to certain spacing, plural number row's briquet is by the manipulator of stacking mechanism, with briquet according to certain spacing, and the adjacent two layers adobe will be carried out 90 ° of cross code and be placed on the kiln car, neat to guarantee yard piled bricks that goes out, the adobe overlap joint is firm up and down, in subsequent drying and calcining process, is not easy to collapse.
In the palletizing apparatus of present domestic use, the rotation of manipulator is finished by rotational structure, the rotating mechanism of existing structure adopts rack-and-gear, because of there is sideshake in rack-and-gear, accuracy of positioning out of reach requirement behind the manipulator half-twist, manipulator easily produces swing, and the adobe between the adjacent two layers is not 90 ° of intersection pilings, adobe is piled up insecure, and piled bricks easily collapses.The present palletizing apparatus complicated in mechanical structure of using, the fault rate height, degree of automation is low, inefficiency, the needs of timely piling are carried out in the adobe in enormous quantities that can not satisfy production.
Summary of the invention
The present invention overcomes defective of the prior art, provide a kind of simple in structure, positioning of rotating accurately, the rotating mechanism and the control method of acceleration-deceleration braking maneuver pulsation-free automatic docking device.
The present invention solves the problems of the technologies described above the technical scheme that is adopted to be: a kind of rotating mechanism of automatic docking device, rotating mechanism is arranged on the lower end of the link span of lifting mechanism, rotating mechanism comprises swivel mount, turntable bearing, swivel mount is connected with link span by turntable bearing, its structural feature also comprises rotary oil cylinder, rotating control assembly and mechanical stop limiter, rotary oil cylinder is horizontally disposed with, its cylinder body and link span are hinged, piston rod is connected with swivel mount by bearing pin, on swivel mount, also be provided with positioning plate, mechanical stop limiter is fixed on the link span corresponding with positioning plate, rotating control assembly has rotary oil cylinder direction control unit, rotary oil cylinder direction control unit links to each other with the rotary oil cylinder hydraulic fluid port by pipeline, rotary oil cylinder is under the driving of rotating control assembly, and swivel mount is made the revolution crank motion.
Described rotating control assembly comprises double pump oil supply unit, multistage pressure control unit and rotary oil cylinder direction control unit, the double pump oil supply unit is connected with multistage pressure control unit and rotary oil cylinder direction control unit by pipeline, and rotary oil cylinder direction control unit links to each other with the hydraulic fluid port of rotary oil cylinder by pipeline.
Described double pump oil supply unit comprises large discharge pump, little displacement pump and motor, and motor directly is connected with the common coaxial of large discharge pump and little displacement pump.
Described multistage pressure control unit comprises multistage pressure control cock and pilot-operated pressure control valve, and they link to each other by oil return line, and the multistage pressure control cock links to each other with float amount pump discharge, and pilot-operated pressure control valve links to each other with the large discharge pump outlet.
Described rotary oil cylinder direction control unit comprises 3-position 4-way solenoid directional control valve, bidirectional hydraulic lock and Double throttle check valve, and 3-position 4-way solenoid directional control valve, bidirectional hydraulic lock and Double throttle check valve are superimposed and are connected by pipeline with the oil inlet and outlet of rotary oil cylinder.
Described mechanical stop limiter is a kind of pressure spring or a kind of water bumper, captives joint with link span, and corresponding with the positioning plate on the swivel mount.
A kind of control method of rotating mechanism of automatic docking device is: by the hand of rotation and the rotating speed of rotating control assembly control rotary oil cylinder, when rotating mechanism need be rotated, rotating control assembly is control rotary oil cylinder fast rotational earlier, the back deceleration that rotates to an angle is rotated at a slow speed, and rotary oil cylinder stops action when rotating to 90 °; When rotating mechanism need return back to original position, rotating control assembly is control rotary oil cylinder fast rotation earlier, slowed down behind the revolution certain angle and rotated at a slow speed, rotated to after the original position rotary oil cylinder and stopped to move and promptly finish a working cycle.With left-handed as hand of rotation be rotating control assembly to rotary oil cylinder carry out original position stop-rotary oil cylinder left-handed fast-rotary oil cylinder is left-handed at a slow speed-90 ° of positions of rotary oil cylinder stop-control of the quick dextrorotation-rotary oil cylinder of rotary oil cylinder dextrorotation at a slow speed-whole working cycle of rotary oil cylinder original position stop.During the rotary oil cylinder original position stop, large discharge pump and the off-load simultaneously of little displacement pump in the multistage pressure control unit control double pump oil supply unit, 3-position 4-way solenoid directional control valve and bidirectional hydraulic lock are in the meta locking states in the rotary oil cylinder direction control unit, and rotary oil cylinder is slack; Rotary oil cylinder is quick when left-handed, and large discharge pump off-load, little displacement pump high pressure in the multistage pressure control unit control double pump oil supply unit load, and the 3-position 4-way solenoid directional control valve is in the anticlockwise working position in the rotary oil cylinder direction control unit; When rotary oil cylinder was left-handed at a slow speed, large discharge pump off-load, little displacement pump low pressure in the multistage pressure control unit control double pump oil supply unit loaded, and the 3-position 4-way solenoid directional control valve is in the anticlockwise working position in the rotary oil cylinder direction control unit; When 90 ° of positions of rotary oil cylinder stop, large discharge pump and the off-load simultaneously of little displacement pump in the multistage pressure control unit control double pump oil supply unit, 3-position 4-way solenoid directional control valve and bidirectional hydraulic lock are in the meta locking states in the rotary oil cylinder direction control unit, and rotary oil cylinder is slack; During the quick dextrorotation of rotary oil cylinder, large discharge pump off-load, little displacement pump high pressure in the multistage pressure control unit control double pump oil supply unit load, and the 3-position 4-way solenoid directional control valve is in the right rotation working position in the rotary oil cylinder direction control unit; Rotary oil cylinder is at a slow speed during dextrorotation, large discharge pump off-load, little displacement pump low pressure in the multistage pressure control unit control double pump oil supply unit load, the 3-position 4-way solenoid directional control valve is in the right rotation working position in the rotary oil cylinder direction control unit, finishes a working cycle.
The invention has the beneficial effects as follows: rotation acceleration and deceleration and braking adopt deceleration loop fluid,matching compression buffer to realize that rotary oil cylinder acceleration and deceleration and braking stop to control no speed kick and impact, the pressure that the velocity variations of rotation is exported the double pump oil supply unit by the multistage pressure control cock carries out Multistage Control, cooperate fixedly damping to realize, the smooth transition of final realization velocity variations, avoid occurring speed kick and impact, positioning plate and mechanical stop limiter make the swivel mount positioning of rotating more accurate, total is simple, fault rate is low, drive 90 ° of rotations of realization with rotary oil cylinder, can guarantee to operate steadily, the vibration and impact little, the piled bricks of piling up is firm, is difficult for collapsing.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a rotating mechanism control setup fluid control schematic diagram of the present invention.
Fig. 3 is a rotating mechanism Control Circulation diagram of circuit of the present invention.
Mark among the figure: 1, link span, 2, swivel mount, 3, turntable bearing, 4, rotary oil cylinder, 5, cylinder body, 6, piston rod, 7, bearing pin, 8, plumbing arm, 9, bearing, 10, positioning plate, 11, pumping plant, 12, the double pump oil supply unit, 121, little displacement pump, 122, large discharge pump, 123, motor, 13, the multistage pressure control unit, 131, the multistage pressure control cock, 132, pilot-operated pressure control valve, 14, mechanical stop limiter, 15, rotary oil cylinder direction control unit, 151, the 3-position 4-way solenoid directional control valve, 152, bidirectional hydraulic lock, 153, Double throttle check valve.
The specific embodiment
As shown in the figure, a kind of rotating mechanism of automatic docking device is arranged on the lower end of the link span 1 of lifting mechanism, comprises swivel mount 2, turntable bearing 3, rotary oil cylinder 4 and rotating control assembly.Swivel mount 2 is connected with link span 1 by turntable bearing 3.Rotary oil cylinder 4 is horizontally disposed with, and its cylinder body 5 is hinged with link span 1, and piston rod 6 is connected with swivel mount 2 by bearing pin 7.Sagging plumbing arm 8 is set on link span 1, and the cylinder body of rotary oil cylinder 45 is hinged with plumbing arm 8, in a side of swivel mount 2 bearing 9 is set, and bearing pin 7 is inserted in the bearing 9.Rotary oil cylinder 4 can adopt the oil cylinder of two ends band buffering, impacts as much as possible little in the time of can guaranteeing to be rotated in place.When rotary oil cylinder 4 stretched, the stationkeeping of cylinder body 5 was motionless, by flexible drive swivel mount 2 rotations of piston rod 6.Preestablish the flexible stroke of piston rod 6, swivel mount 2 half-twist just when can control plunger bar 6 reaching the longest position and being retracted to the shortest position.Because oil cylinder flexible has certain error, positioning plate 10 can be set on swivel mount 2, be provided with on link span 1 and positioning plate 10 cooresponding mechanical stop limiters 14, when swivel mount 2 was rotated in place, positioning plate 10 was stopped by mechanical stop limiter 14 accurately to locate.Mechanical stop limiter 14 is a kind of pressure spring or a kind of water bumper.
As shown in Figure 2: rotating control assembly comprises double pump oil supply unit 12, multistage pressure control unit 13 and rotary oil cylinder direction control unit 15, double pump oil supply unit 12 is connected with multistage pressure control unit 13 and rotary oil cylinder direction control unit 15 by pipeline, and rotary oil cylinder direction control unit 15 links to each other by the hydraulic fluid port of pipeline with rotary oil cylinder 4.
Rotary oil cylinder direction control unit 15 is fixed on the walking in a horizontal state frame, double pump oil supply unit 12, multistage pressure control unit 13 all is installed on the ground pumping plant 11, motor 123 in double pump oil supply unit 12 drags coaxial little displacement pump 121 and large discharge pump 122 by coupler, little displacement pump 121 outlet oil pressure are by multistage pressure control cock 131 controls of multistage pressure control unit 13, large discharge pump 122 outlet oil pressure are by pilot-operated pressure control valve 132 controls of multistage pressure control unit 13, after confluxing, two delivery side of pump transfer to rotary oil cylinder direction control unit 15 by pressure duct, the Double throttle check valve 153 of rotary oil cylinder direction control unit 15,3-position 4-way solenoid directional control valve 151, bidirectional hydraulic lock 152 is finished the rotation of rotary oil cylinder 4 jointly, quicken, slow down and brake and stop action.
The control method of rotating mechanism of the present invention is: by the hand of rotation and the rotating speed of rotating control assembly control rotary oil cylinder, when rotating mechanism need be rotated, rotating control assembly is control rotary oil cylinder fast rotational earlier, the back deceleration that rotates to an angle is rotated at a slow speed, and rotary oil cylinder stops action when rotating to 90 °; When rotating mechanism need return back to original position, rotating control assembly is control rotary oil cylinder fast rotation earlier, slowed down behind the revolution certain angle and rotated at a slow speed, rotated to after the original position rotary oil cylinder and stopped to move and promptly finish a working cycle.Its concrete working process is as follows:
When swivel mount 2 does not rotate, rotary oil cylinder 4 original position stop, large discharge pump 122 and 121 off-loads simultaneously of little displacement pump in the multistage pressure control unit 13 control double pump oil supply units 12,3-position 4-way solenoid directional control valve 151 and bidirectional hydraulic lock 152 are in the meta locking states in the rotary oil cylinder control unit 15, and rotary oil cylinder 4 is slack; Swivel mount 2 begins revolution, rotary oil cylinder 4 is left-handed fast, large discharge pump 122 off-loads, little displacement pump 121 high pressure in the multistage pressure control unit 13 control double pump oil supply units 12 load, and 3-position 4-way solenoid directional control valve 151 is in the anticlockwise working position in the rotary oil cylinder direction control unit 15; Swivel mount 2 is during near end position, rotary oil cylinder 4 beginnings are left-handed at a slow speed, large discharge pump 122 off-loads in the multistage pressure control unit 13 control double pump oil supply units 12, little displacement pump 121 low pressure load, 3-position 4-way solenoid directional control valve 151 is in the anticlockwise working position in the rotary oil cylinder direction control unit 15, stop the rotation when rotating to 90 ° of positions, large discharge pump 122 and the off-load simultaneously of float amount 121 pumps in the multistage pressure control unit 13 control double pump oil supply units 12,3-position 4-way solenoid directional control valve 151 and bidirectional hydraulic lock 152 are in the meta locking states in the rotary oil cylinder direction control unit 15, mechanical stop limiter 14 contacts with positioning plate 10, and swivel mount 2 is slack; During swivel mount 2 revolutions, enter the dextrorotation circulation, rotary oil cylinder 4 quick dextrorotation, 12 large discharge pump 122 off-loads in the multistage pressure control unit 13 control double pump oil supply units, little displacement pump 121 high pressure load, 3-position 4-way solenoid directional control valve 151 is in the right rotation working position in the rotary oil cylinder direction control unit 15, after arriving dextrorotation deceleration position, rotary oil cylinder 4 is large discharge pump 122 off-loads in the dextrorotation multistage pressure control unit 13 control double pump oil supply units 12 at a slow speed, little displacement pump 121 low pressure load, 3-position 4-way solenoid directional control valve 151 is in the right rotation working position in the rotary oil cylinder direction control unit 15, and reposition stops to finish a working cycle.
It is same as the prior art that the present invention does not state part.
Claims (7)
1. the rotating mechanism of an automatic docking device, be arranged on the lower end of the link span (1) of lifting mechanism, comprise swivel mount (2) and turntable bearing (3), swivel mount (2) is connected with link span (1) by turntable bearing (3), it is characterized in that: also comprise rotary oil cylinder (4), rotating control assembly and mechanical stop limiter (14), rotary oil cylinder (4) is horizontally disposed with, its cylinder body (5) is hinged with link span (1), piston rod (6) is connected with swivel mount (2) by bearing pin (7), also be provided with positioning plate (10) on swivel mount (2), mechanical stop limiter (14) is fixed on link span (1) and goes up corresponding with positioning plate (10).
2. the rotating mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: described rotating control assembly comprises double pump oil supply unit (12), multistage pressure control unit (13) and rotary oil cylinder direction control unit (15), double pump oil supply unit (12) is connected with multistage pressure control unit (13) and rotary oil cylinder direction control unit (15) by pipeline, and rotary oil cylinder direction control unit (15) links to each other by the hydraulic fluid port of pipeline with rotary oil cylinder (4).
3. the rotating mechanism of a kind of automatic docking device as claimed in claim 2, it is characterized in that: described double pump oil supply unit (12) comprises large discharge pump (122), little displacement pump (121) and motor (123), and motor (123) directly is connected with the common coaxial of large discharge pump (122) with little displacement pump (121).
4. the rotating mechanism of a kind of automatic docking device as claimed in claim 3, it is characterized in that: described multistage pressure control unit (13) comprises multistage pressure control cock (131) and the pilot-operated pressure control valve (132) that links to each other by oil return line, multistage pressure control cock (131) links to each other with the outlet of little displacement pump (121), and pilot-operated pressure control valve (132) links to each other with the outlet of large discharge pump (122).
5. the rotating mechanism of a kind of automatic docking device as claimed in claim 2, it is characterized in that: described rotary oil cylinder direction control unit (15) comprises 3-position 4-way solenoid directional control valve (151), bidirectional hydraulic lock (152) and Double throttle check valve (153), and 3-position 4-way solenoid directional control valve (151), bidirectional hydraulic lock (152) and Double throttle check valve (153) are connected by the oil inlet and outlet of pipeline with rotary oil cylinder (4).
6. the rotating mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: described mechanical stop limiter (14) is a kind of pressure spring or a kind of water bumper.
7. the control method of the rotating mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: by the hand of rotation and the rotating speed of rotating control assembly control rotary oil cylinder, when rotating mechanism need be rotated, rotating control assembly is control rotary oil cylinder fast rotational earlier, the back deceleration that rotates to an angle is rotated at a slow speed, and rotary oil cylinder stops action when rotating to 90 °; When rotating mechanism need return back to original position, rotating control assembly is control rotary oil cylinder fast rotation earlier, slowed down behind the revolution certain angle and rotated at a slow speed, rotated to after the original position rotary oil cylinder and stopped to move and promptly finish a working cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106049761A CN102126618B (en) | 2010-12-25 | 2010-12-25 | Rotating mechanism of automatic stacking device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106049761A CN102126618B (en) | 2010-12-25 | 2010-12-25 | Rotating mechanism of automatic stacking device and control method thereof |
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| Publication Number | Publication Date |
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| CN102126618A true CN102126618A (en) | 2011-07-20 |
| CN102126618B CN102126618B (en) | 2013-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010106049761A Expired - Fee Related CN102126618B (en) | 2010-12-25 | 2010-12-25 | Rotating mechanism of automatic stacking device and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229390A (en) * | 2011-04-07 | 2011-11-02 | 信阳雄狮建材设备制造有限公司 | Turning mechanism of green brick stacking device |
| CN102491100A (en) * | 2011-12-21 | 2012-06-13 | 丁来臻 | Brick stacking mechanism for automatic stacker |
| CN102502269A (en) * | 2011-09-30 | 2012-06-20 | 洛阳中冶重工机械有限公司 | Stacking method for green bricks and stacking device for green bricks |
| CN102826373A (en) * | 2012-07-20 | 2012-12-19 | 深圳市今天国际物流技术股份有限公司 | Reversing shifting equipment |
| CN102897693A (en) * | 2012-10-24 | 2013-01-30 | 深圳市华星光电技术有限公司 | Stacking machine and automatic warehousing system |
| CN103991717A (en) * | 2014-05-29 | 2014-08-20 | 天津隆建机械制造有限公司 | Automatic setting machine |
| US9227797B2 (en) | 2012-10-24 | 2016-01-05 | Shenzhen China Star Optoelectronics Technology Co., Ltd | Crane and automated storage and retrieval system |
| CN108844295A (en) * | 2016-08-20 | 2018-11-20 | 海宁恒森家具有限公司 | The treatment process of the modified form drying of wood |
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| JPS5847725A (en) * | 1981-09-16 | 1983-03-19 | Nomura Sangyo Kk | Stacking device |
| CN85200662U (en) * | 1985-04-01 | 1986-01-29 | 张培尧 | Automatic stacker with electronic brain |
| US5085556A (en) * | 1989-06-14 | 1992-02-04 | Mitsubishi Denki K.K. | Industrial robot apparatus |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229390A (en) * | 2011-04-07 | 2011-11-02 | 信阳雄狮建材设备制造有限公司 | Turning mechanism of green brick stacking device |
| CN102229390B (en) * | 2011-04-07 | 2013-04-24 | 信阳雄狮建材设备制造有限公司 | Turning mechanism of green brick stacking device |
| CN102502269A (en) * | 2011-09-30 | 2012-06-20 | 洛阳中冶重工机械有限公司 | Stacking method for green bricks and stacking device for green bricks |
| CN102491100A (en) * | 2011-12-21 | 2012-06-13 | 丁来臻 | Brick stacking mechanism for automatic stacker |
| CN102826373A (en) * | 2012-07-20 | 2012-12-19 | 深圳市今天国际物流技术股份有限公司 | Reversing shifting equipment |
| CN102897693A (en) * | 2012-10-24 | 2013-01-30 | 深圳市华星光电技术有限公司 | Stacking machine and automatic warehousing system |
| WO2014063366A1 (en) * | 2012-10-24 | 2014-05-01 | 深圳市华星光电技术有限公司 | Stacker and automatic warehousing system |
| US9227797B2 (en) | 2012-10-24 | 2016-01-05 | Shenzhen China Star Optoelectronics Technology Co., Ltd | Crane and automated storage and retrieval system |
| CN103991717A (en) * | 2014-05-29 | 2014-08-20 | 天津隆建机械制造有限公司 | Automatic setting machine |
| CN108844295A (en) * | 2016-08-20 | 2018-11-20 | 海宁恒森家具有限公司 | The treatment process of the modified form drying of wood |
| CN108844295B (en) * | 2016-08-20 | 2020-01-21 | 海宁恒森家具有限公司 | Improved wood drying treatment process |
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|---|---|
| CN102126618B (en) | 2013-11-13 |
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Address after: 471003 Qinling Mountains Road, Jianxi District, Luoyang, Henan Patentee after: LUOYANG ZHONGYE HEAVY INDUSTRY MACHINERY CO.,LTD. Address before: 471003 Qinling Mountains Road, Jianxi District, Luoyang, Henan Patentee before: LUOYANG ZHONGYE HEAVY INDUSTRY MACHINERY Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131113 |