CN106144635A - High speed piling system - Google Patents
High speed piling system Download PDFInfo
- Publication number
- CN106144635A CN106144635A CN201610799022.8A CN201610799022A CN106144635A CN 106144635 A CN106144635 A CN 106144635A CN 201610799022 A CN201610799022 A CN 201610799022A CN 106144635 A CN106144635 A CN 106144635A
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- CN
- China
- Prior art keywords
- wrist
- hinged
- swing arm
- jointed shaft
- electric magnet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
Abstract
The open a kind of high speed piling system of the present invention, including Palletizer, for lifting the jacking equipment of section bar；Described Palletizer includes " ┤ " shape frame, upset electric magnet, tooth plate, wrist, driving means, pre-tightening apparatus；Described frame includes that vertical section and horizontal segment, the rear end of described horizontal segment are connected with the middle part of described vertical section；Described rack level section front end is hinged with swing arm by the first jointed shaft；The lower end of described swing arm is hinged with wrist by the second jointed shaft；It is provided with upset electric magnet on described wrist, described upset electric magnet is hinged with tooth plate；Described driving means is arranged on above rack level section, drives described swing arm motion；Described pre-tightening apparatus is arranged on the lower section of rack level section；Described jacking equipment includes that hoistable platform, position block, described position block are arranged on hoistable platform.
Description
Technical field
The present invention relates to a kind of profile production equipment, a kind of high speed piling system.
Background technology
Profile stacking machine is arranged in rear portion, section bar workshop finished product process tail end, for scale profile stacking, to satisfy the criteria
Require with the merchant shapes packing specification in market to become buttress to delivery to customer product according to certain pattern pile, in order to realize material
Storage, carry, load and unload the logistics activities such as transport.Current profile stacking machine uses hand stowage mode or " running vehicle type " mostly
Piling mode, hand stowage mode working strength is big, and required operating worker quantity is many, and cost of labor is big, and inefficiency, code
Buttress packaging quality is poor；The row mode of hanging uses automatic stacking system, reduces cost of labor, but has that speed is low, positional precision is poor, work
Slow and the anti-interference ability of skill rhythm weak with the difference of section bar continuous rolling process production capacity matching completely etc. shortcoming.
Summary of the invention
For the problems referred to above, the present invention provides a kind of high speed piling system that piling speed is fast, precision is high.
For reaching above-mentioned purpose, high speed piling system of the present invention, set including Palletizer, for lifting the lifting of section bar
Standby；
Described Palletizer includes frame, upset electric magnet, tooth plate, wrist, driving means, pre-tightening apparatus；Described frame
Including vertical section and horizontal segment, the rear end of described horizontal segment is connected with the middle part of described vertical section；Described rack level section front end
It is hinged with swing arm by the first jointed shaft；The lower end of described swing arm is hinged with wrist by the second jointed shaft；Set on described wrist
It is equipped with upset electric magnet, described upset electric magnet is hinged with tooth plate；Described driving means is arranged on above rack level section, drives
Dynamic described swing arm motion；Described pre-tightening apparatus is arranged on the lower section of rack level section；
Described jacking equipment includes that hoistable platform, position block, described position block are arranged on hoistable platform.
It is also preferred that the left described wrist is connected with multi link attitude-adjusting system, described multi link attitude-adjusting system includes one
Root wrist connecting shaft, a top links and the bottom linkage rod corresponding with described wrist are rotatably connected with described first jointed shaft
Rocking bar and for adjusting the gesture drive mechanism of described wrist attitude；Master arm and driven it is provided with in described wrist connecting shaft
Arm, the slave arm of the wrist connecting shaft that the master arm of described wrist connecting shaft is adjacent with top is hinged with transition link respectively,
The master arm of the connecting shaft of top is hinged with the bottom of top links, and the top of described top links and rocking bar are hinged by the 3rd
Axle is hinged, and the slave arm of the described wrist connecting shaft of bottom is hinged with the top of described bottom linkage rod, described bottom linkage rod
Bottom and described wrist are hinged by the 4th jointed shaft；Plane and second, four determined by the axis of described first and third jointed shaft
Plane determined by the axis of jointed shaft is parallel, the axis of described transition link, top links and bottom linkage rod and described pendulum
The axis of arm is parallel；Described gesture drive mechanism drives described top links or the motion of described rocking bar；
It is also preferred that the left described position block is alternately block, described alternately block includes being arranged in order along the section bar direction of motion
Forward and backward block and drive the block elevating mechanism that described positive stop lifts, said two block meets the side to section bar motion
To side be provided with spacing trigger mechanism.
It is also preferred that the left described pre-tightening apparatus include hinged with described frame and the described swing arm respectively elastic mechanism in two ends and
For regulating the flexible adjustment mechanism of the elastic force of described elastic mechanism；
Described elastic mechanism includes cylinder and the gas bag connected with described cylinder, described flexible adjustment mechanism include source of the gas,
For connecting the source of the gas treatment element of source of the gas and gas bag and being arranged on the air gauge on described gas bag；
Or, described elastic mechanism includes that spring, described flexible adjustment mechanism include for regulating spring with machine frame even
Connect the position adjusting mechanism of position.
It is also preferred that the left be provided with angular transducer detent mechanism in described swing arm, described angular transducer detent mechanism includes
The angular transducer connected by booster engine and the first jointed shaft, described first jointed shaft connects with the low speed end of described booster engine
Connecing, described angular transducer is connected with the speed end of described booster engine, and described swing arm is connected with described first jointed shaft anti-rotation, institute
The product stating the angular range of swing arm motion and the speed increasing ratio of booster engine is not more than the range of described angular transducer.
It is also preferred that the left be provided with stroke compensating mechanism in frame, described stroke compensating mechanism includes hinged with described frame
Stroke compensation mount and compensate drive mechanism away from the hinged stroke in described frame side with described stroke compensation mount；Described
In the middle part of driving means and described stroke compensation mount hinged；The kinematic accuracy of described compensation driving means drives dress higher than described
Put.
For reaching above-mentioned purpose, high speed piling system of the present invention, including " ┤ " shape frame, swing arm, driving means, wrist
With upset Magnet；Described frame includes horizontal segment and vertical section, and described horizontal segment one end is connected with described vertical section top, described
Rack level section front end is hinged with swing arm by the first jointed shaft；Swing arm lower end is hinged with by the second jointed shaft, wrist；Described
Being provided with upset electric magnet on wrist, described driving means is arranged between described frame and swing arm hinged with swing arm.
It is also preferred that the left described driving means includes that the drive mechanism drive link corresponding with swing arm is corresponding with drive link
Rocking bar, one end of described drive link is hinged with described rocking bar, and the other end of described drive link is hinged with described swing arm；
Or, described swing arm is connected with described first jointed shaft anti-rotation, and described driving means includes a telescoping mechanism, institute
The two ends stating telescoping mechanism are hinged with described swing arm and frame respectively.
It is also preferred that the left described driving means is hinged with frame by compensation device；
Described compensation device includes the compensation mount hinged with described frame and with described compensation mount away from described machine
The compensation drive mechanism that frame side is hinged；In the middle part of described driving means and described compensation mount hinged；Described compensation driving means
Kinematic accuracy higher than described driving means；
Or, described compensation device includes the compensation mount being connected with described housing slide and drives described compensation mount
The compensation drive mechanism slided, described driving means is connected with described compensation mount.
It is also preferred that the left described pre-tightening apparatus include hinged with described frame and the described swing arm respectively elastic mechanism in two ends and
For regulating the flexible adjustment mechanism of the elastic force of described elastic mechanism；
Described elastic mechanism includes cylinder and the gas bag connected with described cylinder, described flexible adjustment mechanism include source of the gas,
For connecting the source of the gas treatment element of source of the gas and gas bag and being arranged on the air gauge on described gas bag；
Or,
Described pre-tightening apparatus includes hinged with described frame and the described swing arm respectively elastic mechanism in two ends and for adjusting
Save the flexible adjustment mechanism of the elastic force of described elastic mechanism；
Described elastic mechanism includes that spring, described flexible adjustment mechanism include for regulating spring and machine frame link position
Position adjusting mechanism.
It is also preferred that the left described wrist and described crossbeam are hinged by the second jointed shaft, described Palletizer also includes and wrist
The wrist level maintaining body connected or wrist attitude-adjusting system；
Described wrist level maintaining body is wrist list connecting rod level-ling mechanism or wrist multi link level-ling mechanism；
Described wrist multi link level-ling mechanism includes a wrist connecting shaft being rotatably connected with swing arm, a top
Connecting rod and the bottom linkage rod corresponding with described wrist, described wrist with being provided with master arm and slave arm in connecting shaft, described wrist
The slave arm of the wrist connecting shaft that the master arm of portion's connecting shaft is adjacent with top is hinged with transition link respectively, the connection of the top
The master arm of axle is hinged with the bottom of top links, and the top of described top links and frame are hinged by the 3rd jointed shaft,
The slave arm of the described wrist connecting shaft of lower section is hinged with the top of described bottom linkage rod, and the bottom of described bottom linkage rod is with described
Wrist is hinged by the 4th jointed shaft；Plane determined by the axis of described first and third jointed shaft and the axle of second, four jointed shafts
Plane determined by line is horizontal plane, the axis of described transition link, top links and bottom linkage rod and the axle of described swing arm
Line is parallel；
Described include a transition link be arrangeding in parallel with described swing arm for wrist list connecting rod level-ling mechanism, described
The upper end of transition link and described frame are hinged by the 3rd jointed shaft, the lower end of described transition link by the 4th jointed shaft with
Described wrist is hinged, puts down determined by plane determined by the axis of described first and third jointed shaft and described second, four jointed shafts
Face is horizontal plane；Described wrist is connected with described second jointed shaft anti-rotation；
Described wrist attitude-adjusting system is wrist list connecting rod attitude-adjusting system or wrist multi link attitude-adjusting system；
Described wrist multi link attitude-adjusting system include a wrist connecting shaft, a top links and with described wrist
Corresponding bottom linkage rod is rotatably connected with described first jointed shaft rocking bar and for adjusting the gesture drive of described wrist attitude
Mechanism；At least one master arm and at least one slave arm, the master of described wrist connecting shaft it is provided with in described wrist connecting shaft
The slave arm of the wrist connecting shaft that swing arm is adjacent with top is hinged with transition link respectively, the master arm of the connecting shaft of the top with
The bottom of top links is hinged, and the top of described top links and rocking bar are hinged by the 3rd jointed shaft, the described wrist of bottom
The slave arm of portion's connecting shaft is hinged with the top of described bottom linkage rod, and the bottom of described bottom linkage rod and described wrist are by the 4th
Jointed shaft is hinged；Put down determined by plane determined by the axis of described first and third jointed shaft and the axis of second, four jointed shafts
Face is parallel, and the axis of described transition link, top links and bottom linkage rod is parallel with the axis of described swing arm；Described attitude is driven
Motivation structure drives described top links or the motion of described rocking bar；
Described wrist list connecting rod attitude-adjusting system includes that a transition link be arrangeding in parallel with described swing arm is with described
Rocking bar that first jointed shaft is rotatably connected and drive the gesture drive mechanism of described transition link or described rocking bar, described translation
The upper end of connecting rod and described rocking bar are hinged by the 3rd jointed shaft, and the lower end of described transition link and described wrist are by the 4th hinge
Spindle is hinged, and plane determined by plane determined by the axis of described first and third jointed shaft and second, four jointed shafts is parallel；
Described wrist is connected with described second jointed shaft anti-rotation；
It is also preferred that the left be provided with positioner on Palletizer, described positioner is mobile ranging localization mechanism, fixing survey
Away from detent mechanism or angular transducer detent mechanism；
Described mobile ranging localization mechanism include with swing arm or crossbeam bottom hinged range measurement mechanism, for keeping described
The location-plate that the level-ling mechanism of measuring mechanism level and corresponding described range measurement mechanism kinematic scope are arranged；Described fixed
The height of position plate is not less than the peak of described swing arm bottom motion and the difference of the height of minimum point；When moving in described swing arm bottom
During to peak, the top of the corresponding described location-plate of described range measurement mechanism, when described swing arm bottom moves to minimum point,
The bottom of the corresponding described location-plate of described range measurement mechanism；Or, described location-plate includes corresponding described range measurement mechanism
The rear 1/2 upper location-plate arranged of range of upward movement and rear the 1/2 of correspondence described range measurement mechanism downward range of motion set
The lower location-plate put；When described swing arm bottom moves to peak, the corresponding described upper location-plate of described range measurement mechanism, when
When described swing arm bottom moves to minimum point, the corresponding described lower location-plate of described range measurement mechanism；
Described fixing ranging localization mechanism include with swing arm or crossbeam bottom hinged location-plate, for keeping described location
Vertical maintaining body that plate is vertical and the range measurement mechanism that corresponding described location-plate is arranged；The height of described location-plate is the least
Peak and the difference of minimum point height in the motion of described swing arm bottom；When described swing arm bottom moves to peak, described
The bottom of the corresponding described location-plate of range measurement mechanism, when described swing arm bottom moves to minimum point, described range measurement machine
The top of the corresponding described location-plate of structure；Or, the rear 1/2 upper measuring mechanism arranged of corresponding described location-plate range of upward movement
The rear 1/2 lower range measurement mechanism arranged of location-plate downward range of motion described with correspondence, when described swing arm bottom moves to
During peak, the corresponding described upper measuring mechanism of described location-plate, when described swing arm bottom moves to minimum point, described location-plate
Corresponding described lower measuring mechanism；
Described angular transducer detent mechanism includes the angular transducer connected by booster engine and the first jointed shaft, described
First jointed shaft is connected with the low speed end of described booster engine, and described angular transducer is connected with the speed end of described booster engine, institute
Stating swing arm to be connected with described first jointed shaft anti-rotation, the product of the angular range of described swing arm motion and the speed increasing ratio of booster engine is not
Range more than described angular transducer.
It is also preferred that the left be provided with section bar clamping mechanism on described electric magnet, described section bar clamping mechanism be slip clamping mechanism,
Upset clamping mechanism or lifting clamping mechanism；
Described slip clamping mechanism includes the tooth plate being slidably connected with described electric magnet and for driving described tooth plate sliding
Dynamic tooth plate drive mechanism, described tooth plate is provided with, along section bar orientation, the fixing breach that section bar is suitable；
Described upset clamping mechanism includes the tooth plate hinged with described electric magnet and for driving described tooth plate to overturn
Tooth plate drive mechanism, described tooth plate is provided with the fixing breach suitable with section bar along section bar orientation；
It is also preferred that the left described lifting clamping mechanism includes the tooth plate being connected with the side slip of described electric magnet and drives institute
State the tooth plate drive mechanism of electric magnet lifting；It is provided with along section bar orientation on described tooth plate and lacks to adaptive fixing with section bar
Mouthful.
It is also preferred that the left positioner also includes that motion control mechanism, described motion control mechanism include being arranged on described swing arm
Under in the range of the upper trigger mechanism in the range of rear 1/2 that moves upward, be arranged on that described swing arm moves downward rear 1/2
Trigger mechanism and with described upper trigger mechanism and the controller of described lower trigger mechanism communication；Described controller and described movement
Ranging localization mechanism, fixing ranging localization mechanism and described angular transducer detent mechanism communication, described controller controls described
Driving means and described compensation device；Described upper trigger mechanism and described lower trigger mechanism are proximity switch.
It is also preferred that the left described Magnet drive mechanism is electric magnet telescoping drive mechanism, described electric magnet connecting shaft and described electricity
Magnet is in transmission connection by wrist booster engine；Described electric magnet telescoping drive mechanism one end is hinged with described wrist, described electromagnetism
The other end of ferrum telescoping drive mechanism is hinged with fork；Described wrist booster engine includes driving gear, the setting being arranged on axle
Driven gear on electric magnet and at least one travelling gear by the motion transmission of driving gear to driven gear；
Described driven gear is m/n with the gear ratio of driving gear, and wherein, m is the anglec of rotation of electric magnet, and n is that electric magnet is flexible to be driven
Motivation structure drives the angle that fork rotates；
Or described solenoid actuated mechanism is electric magnet rotary drive mechanism；Described electric magnet rotary drive mechanism includes
Rotating hydraulic cylinder or reducing motor, the output shaft of described rotating hydraulic cylinder or reducing motor is connected with described electric magnet.
It is also preferred that the left be provided with stroke compensating mechanism in described frame, described stroke compensating mechanism includes cutting with scissors with described frame
The stroke compensation mount that connects and compensate drive mechanism away from the stroke that described frame side is hinged with described stroke compensation mount；
In the middle part of described driving means and described stroke compensation mount hinged；The kinematic accuracy of described compensation driving means is higher than described driving
Device；
Or, described stroke compensating mechanism includes the stroke compensation mount being connected with described housing slide and drives described
The stroke that stroke compensation mount is slided compensates drive mechanism, and described driving means is connected with described stroke compensation mount.
High speed piling system of the present invention, when swing arm motion, utilizes the multi link attitude-adjusting system energy being connected with wrist
Make wrist remain level, and then make to be arranged on the electric magnet holding level of wrist, it is ensured that electric magnet draw section bar it
Before can be parallel with hoistable platform；Utilize the upset tooth plate being arranged on electric magnet so that electric magnet can alternately draw code angle steel
With radix-minus-one complement angle steel；Utilize deadweight or the load of pre-tightening mechanism carrying swing arm, in such manner, it is possible to make swing arm be in the shape close to balance
State, when swing arm is driven by driving means, it is possible to make swing arm respond rapidly to, simultaneously as the weight of swing arm is filled by pretension
Putting carrying, when driving means drives swing arm, the movement velocity of swing arm can be made to accelerate, response speed and the movement velocity of swing arm all add
Mean that the work efficiency of mechanical hand can be greatly improved soon；Utilize the angular transducer being arranged in swing arm, it is possible to pendulum
The swing position of arm is accurately positioned, and makes section bar control accuracy in whole palletization all be greatly improved.
Accompanying drawing explanation
Fig. 1 is first example structure schematic diagram of high speed piling system Palletizer of the present invention；
Fig. 2 is first embodiment partial structurtes schematic diagram of high speed piling system Palletizer of the present invention；
Fig. 3 is high speed piling system pre-tightening apparatus schematic diagram of the present invention；
Fig. 4 is the structural representation of high speed piling system perspective sensor positioning mechanism；
Fig. 5 is the structural representation of second embodiment of high speed piling system of the present invention；
Fig. 6 is a kind of preferred compositions mode of compensation device and driving means；
Fig. 7 is the schematic diagram of the multi link wrist level maintaining body of high speed piling system of the present invention；
Fig. 8 is a kind of preferred structure of high speed piling system electromagnet apparatus of the present invention；
Fig. 9 is the preferred structure schematic diagram that high speed piling system of the present invention moves ranging localization mechanism；
Figure 10 is the workflow diagram of high speed piling system positioning device of the present invention；
Figure 11 is the workflow diagram of high speed piling system positioning device of the present invention
Figure 12 is the structural representation of high speed piling system of the present invention translation clamping mechanism；
Figure 13 is the structural representation that high speed piling system of the present invention fixes ranging localization mechanism；
Figure 14 is 3rd example structure schematic diagram of high speed piling system Palletizer of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention will be further described.
In the present invention, " front " refers to the frame direction towards hoistable platform, and " afterwards " refers to the side of frame hoistable platform dorsad
To.
Described wrist is for being used for connecting arm and upset Magnet；Or connecting cross beam and the attachment structure of upset Magnet, institute
State attachment structure be arranged on described upset Magnet both sides two pieces of connecting plates, be arranged on upset Magnet side one piece of connecting plate
Or other attachment structures.
Embodiment one
As shown in Figure 1 and Figure 2, the present embodiment high speed piling system, described Palletizer include frame 1, upset electric magnet 6,
Tooth plate 608, wrist 7, driving means, pre-tightening apparatus 5；Described frame is " ┤ " shape frame, and described frame includes vertical section 102 He
Horizontal segment 101, the rear end of described horizontal segment 101 is connected with the middle part of described vertical section 102；Described rack level section 101 front end
It is hinged with swing arm 2 by the first jointed shaft 201；The lower end of described swing arm 2 is hinged with wrist 7 by the second jointed shaft 202；Described
Wrist 7 is provided with upset electric magnet 6；It is hinged with tooth plate 608 on described upset electric magnet；Described driving means is arranged on frame water
Below flat section, drive described swing arm motion；Described pre-tightening apparatus 5 is arranged on the lower section of rack level section；Described wrist with connect more
Bar attitude-adjusting system connect, described multi link attitude-adjusting system include a wrist connecting shaft, a top links and with
The bottom linkage rod that described wrist is corresponding is rotatably connected with described first jointed shaft rocking bar and for adjusting described wrist attitude
Gesture drive mechanism；Being provided with master arm and slave arm in described wrist connecting shaft, the master arm of described wrist connecting shaft is with upper
The slave arm of the wrist connecting shaft of Fang Xianglin is hinged with transition link respectively, the master arm of the connecting shaft of the top and top links
Bottom hinged, the top of described top links and rocking bar are hinged by the 3rd jointed shaft, the described wrist connecting shaft of bottom
Slave arm hinged with the top of described bottom linkage rod, the bottom of described bottom linkage rod and described wrist are cut with scissors by the 4th jointed shaft
Connect；Plane determined by plane determined by the axis of described first and third jointed shaft and the axis of second, four jointed shafts is parallel,
The axis of described transition link, top links and bottom linkage rod is parallel with the axis of described swing arm；Described gesture drive mechanism
Drive described top links or the motion of described rocking bar；
Described jacking equipment includes that hoistable platform, position block, described position block are arranged on hoistable platform；Described fixed
Position block be alternately block, and described alternately block includes forward and backward block and the driving institute being arranged in order along the section bar direction of motion
Stating the block elevating mechanism of positive stop lifting, said two block is met and is provided with spacing touching to the side in the direction of section bar motion
Send out mechanism
Being provided with stroke compensating mechanism in described frame, described stroke compensating mechanism includes the stroke hinged with described frame
Compensation mount and compensate drive mechanism away from the hinged stroke in described frame side with described stroke compensation mount；Described driving
In the middle part of device and described stroke compensation mount hinged；The kinematic accuracy of described compensation driving means is higher than described driving means.
As shown in 3 figures, being provided with pre-tightening apparatus 5 below the horizontal segment of described frame, described pre-tightening apparatus includes that two ends are divided
The most not hinged with described frame and described swing arm elastic mechanism and be used for regulating the flexible adjustment of the elastic force of described elastic mechanism
Mechanism；Described elastic mechanism includes cylinder 501 and the gas bag 510 connected with described cylinder, and described flexible adjustment mechanism includes gas
Source 516, for connecting the source of the gas treatment element 512 of source of the gas 516 and gas bag 510 and be arranged on the air pressure on described gas bag 510
Table 511；Described balance cylinder 501 is arranged between swing arm 2 and support body 1, supports swing arm deadweight in swing arm 2 course of action.
Described air supply system includes that source of the gas 516, gas bag 510, air gauge 511, source of the gas process three elements 512, welded still pipe
503 and ball valve 513, described source of the gas 516 processes three elements by reducing joint 515, welded still pipe 514, ball valve 513 and source of the gas
Gas bag 510 is inflated by 512 by compressed-air-storing to gas bag 510, manually adjustable ball valve 513, it is possible to regulation gas bag 510
On relief valve exit.Described gas bag 510 is provided with air gauge 511, can read gas bag 510 atmospheric pressure value in real time；Described gas
Cylinder air admission unit 502 is welded by welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506, articulation 507
Steel pipe 508 and pipe reducer 509 are connected with gas bag 510, can manual-lock or open ball valve 506 so as to control gas bag 510
And the gas distribution channel between balance cylinder 501.State gas bag 510 and be placed on palletizing mechanical arm support body 1 side or more nearby, gas bag
Ball valve 506 between 510 and cylinder is arranged on position convenient to operate on support body 1.
As shown in Figure 4, described swing arm is provided with angular transducer detent mechanism, described angular transducer detent mechanism bag
Including the angular transducer 212 being connected by booster engine 210 with the first jointed shaft, the housing of described angular transducer 212 is arranged on
On rotating base 211, described rotating base 211 is rotatably connected with shell or the first jointed shaft, and described rotating base 211 is arranged
Have and rotating base 211 is locked at the locking device on shell or the first jointed shaft, described first jointed shaft and described booster engine
The low speed end of 210 connects, and described angular transducer 212 is connected with the speed end of described booster engine 210, described swing arm and described the
One jointed shaft anti-rotation connects, and the angular range of described swing arm motion is not more than described angle with the product of the speed increasing ratio of booster engine 210
The range of degree sensor 212.First jointed shaft is connected with angular transducer 212, when first by said structure by speeder
Jointed shaft rotate an angle time, speeder by speedup by the expanded range of the measuring section of angular transducer 212, with around here
Connect the resolution strengthening angular transducer 212.When mechanical hand swings, its mechanical movement is carried out around the axle of arm end
Rotary motion, just drives the booster engine 210 being connected on axle to run simultaneously.If swing arm traffic coverage is [0, A], by booster engine
After 210 speed ratio k amplify, booster engine 210 speed end traffic coverage is really [0, kA].If sensor resolution is B, due to sensing
Device is connected to booster engine 210 speed end, so the Measurement Resolution of booster engine 210 speed end is B, and booster engine 210 low speed end
Measurement Resolution be B/k, say, that the present invention propose measurement apparatus, the resolution measured for swing arm is B/
K, precision improves k times.
As a example by the palletization of small dimension angle steel, the work process of the high speed piling system of the present embodiment is carried out below
Illustrate:
A kind of original state of the present embodiment is as it can be seen, under this state, described swing arm drive device 3 makes swing arm 2 be in
Plumbness, described upset electric magnet 6 magnetic pole is downward.
During forward code steel, described swing arm drive device 3 drives connecting lever 303 to rotate, and then drives drive link 301 to promote pendulum
Arm 2 swings forward, until upset electric magnet 6 is positioned at shaped steel and connects above steel position, then hoistable platform moves upward, when lifting is flat
Platform main body moves upward to be suitable to electric magnet 6 and draws the position of angle steel, and then electric magnet suction 6 takes angle steel, when the absorption of electric magnet
During angle steel, the turning of angle steel fixes in the fixing breach of tooth plate 608, makes angle steel keep attitude not change, is put by angle steel
To specifying position.
Carry out reverse code steel subsequently, first need piling section bar to be promoted to higher connect steel position by hoistable platform, then drive
Mechanism 302 action, drives swing arm forward swing to connecing steel position by connecting lever 303, rocking bar 303 and connecting rod 301, and electric magnet turns over subsequently
Turn, make magnetic pole level upwards draw angle steel.Owing to angle steel is when code, in " " shape, during angle steel radix-minus-one complement, it is superimposed upon previously
On the angle steel that code is good, inShape, the i.e. angle steel of code opening down, the i.e. angle steel of radix-minus-one complement opening up.
When angle steel code, due to be the closed angle end of angle steel upward, be that single line contacts with electric magnet 6, contact area is the least, it is easy to
Produce rollover on electric magnet 6, so guiding tooth plate 608 must be arranged on electric magnet, the angle steel of code is guided.But
During radix-minus-one complement subsequently, guiding tooth plate 608 can interfere with the angle steel of code, it is therefore desirable to make edge and the horizontal plane of angle steel
Contact, therefore needs to drive tooth plate 608 to move by tooth plate drive mechanism 607 before drawing angle steel, makes edge and the tooth of angle steel
The straight portion alignment of plate 608.Then packet lifting platform move downward, angle steel draw on electric magnet 6, lifting platform to be grouped from
After opening upset region, electric magnet telescoping drive mechanism 702 is retracted, and upset electric magnet 6 reversely rotates 180 °；Then driving means
302 drive connecting lever 303 to move, and drive swing arm 2 to be rocked to reverse code steel position by rocking bar 303 and connecting rod 301, treat that swing arm puts in place
After, overturning electric magnet 6 dead electricity, steel fall on piling lifting platform.
High speed piling system of the present invention, owing to using ┤ " shape frame, the middle part of swing arm 2 is hinged with horizontal segment 101, so,
The top of swing arm 2 forms counterweight to bottom, makes swing arm 2 be in the state close to balance, when power and the top of pre-tightening mechanism applying
When what counterweight applied makes a concerted effort more than the power of the weight applying of swing arm 2 bottom, swing arm 2 can be swung up, and now connecting rod 301 is subject to
Power is pulling force, when, after mechanical hand feeding, weight increases, and when needing swung downward, rocking bar 303 drive mechanism 302 bounces back, by turning
The transmission of arm, rocking bar 303 and connecting rod 301 pulls swing arm 2, and now connecting rod 301 remains applying pulling force, and thus, swing arm 2 is in fortune
During Dong, the power of pre-tightening apparatus 5 and driving means does not the most commutate, it is possible to eliminate hinge gap,
In the motor process of swing arm, the pressure in the gas bag 510 of the present embodiment should meet: one, the pushing away of balance cylinder 501
The trimming moment that power produces slightly larger than the maximum load moment of resistance produced of conducting oneself with dignity during swing arm motion, two, gas bag 510 is whole
During driving, pressure is basically unchanged.Under the conditions of above-mentioned two, without the effect of drive link, swing arm will be at balance cylinder 501
Thrust lower swing to foremost position, therefore the stress of drive link is become tension from original pressurized, it is to avoid depression bar occur
Unstable phenomenon；After swing arm 2 forward swing connects steel, adding the weight of steel, the change of loading moment is conducive to greatly swing arm backswing, the company of driving
The pulling force of bar reduces the most therewith；In swing arm 2 course of action, balance cylinder 501 is constantly in thrust rating, drives pull bar always
Being in tension state, connection member stress does not commutate, thus eliminates the gap impact of hinged place.Swing arm is conducive to swing
During precision improve；Utilize multi link attitude-adjusting system,；By the diastimeter being arranged on hoistable platform, accurately survey
Measure the adjustable height of hoistable platform.Due on the angle steel that code is good in radix-minus-one complement angle steel stack inShape, institute
With code angle steel and radix-minus-one complement angle steel, the position on electric magnet can differ a certain distance, and therefore code angle steel and radix-minus-one complement angle steel stop
Staying the position on hoistable platform can be different, and the present invention just will limit by arranging the block of alternately lifting on hoistable platform
Code angle steel and radix-minus-one complement angle steel stop place on hoistable platform so that angle steel can be inhaled in predetermined position by Magnet.
Embodiment two
As it is shown in figure 5, the high speed piling system of the present embodiment, including " ┤ " shape frame, swing arm, driving means, wrist and
Upset Magnet；Described frame includes that horizontal segment and vertical section, described horizontal segment one end are connected with described vertical section top, described machine
Frame horizontal segment front end is hinged with swing arm by the first jointed shaft；Swing arm lower end is hinged with wrist, described wrist by the second jointed shaft
Portion includes the contiguous block being arranged on bottom swing arm, described contiguous block top and bottom respectively to both sides extend formed upper substrate and under
Substrate, described infrabasal plate is provided with upset electric magnet；Described driving means is arranged between described frame and swing arm cuts with scissors with swing arm
Connect.
Described Palletizer includes frame 1, upset electric magnet 6, upset tooth plate 608, wrist 7, driving means；Described frame
For " ┤ " shape frame, including vertical section 102 and horizontal segment 101, the rear end of described horizontal segment 101 with in described vertical section 102
Portion connects；Described rack level section front end is hinged with swing arm 2 by the first jointed shaft 201；The second jointed shaft is passed through in swing arm lower end
202 are hinged with wrist 7；Front end on described wrist 7 is provided with upset electric magnet 6；Described upset tooth plate is hinged on described upset
On electric magnet 6；Described driving means is arranged on above rack level section, and described driving means includes drive mechanism 302, the company of driving
The rocking bar 303 that bar 301 is corresponding with drive link 301, one end of described connecting rod 301 is hinged with described rocking bar 303, described connecting rod
The other end of 301 is hinged with described swing arm；One of them rocking bar 303 is the one arm of connecting lever, and drive mechanism 302 is that electricity cylinder drives
Described swing arm motion, pre-tightening apparatus 5 is arranged on the lower section of rack level section；
Described driving means can be arranged on above or below rack level section, naturally it is also possible to after being arranged on frame
Face.
Described driving means includes the rocking bar that the some drive links 301 corresponding with swing arm are corresponding with drive link 301
303 connecting shafts 305 being rotatably connected with drive connection structure and drive the drive mechanism 302 that described connecting shaft 305 rotates,
Described rocking bar 303 is connected with described connecting shaft 305 anti-rotation, and one end of described connecting rod 301 is hinged with described rocking bar 303, described company
The other end of bar 301 is hinged with described swing arm；One of them rocking bar 303 is the one arm of connecting lever, drive mechanism 302 be electricity cylinder,
Hydraulic cylinder or cylinder, described electricity cylinder, hydraulic cylinder or the expansion link of cylinder and another arm of described connecting lever are hinged, described electricity cylinder,
The cylinder body of hydraulic cylinder or cylinder is hinged with described frame by compensation device.
Described driving means is hinged with described frame by described compensation device；
As shown in Figure 6, described compensation device include the compensation mount 401 hinged with described frame and with described compensation at the bottom of
Seat 401 is away from the hinged compensation drive mechanism 402 in described frame side；In the middle part of described driving means and described compensation mount 401
Hinged；The kinematic accuracy of described compensation driving means is higher than described driving means；
As it is shown in fig. 7, described wrist and described crossbeam are hinged by the second jointed shaft 202, described wrist and the many companies of wrist
Bar level-ling mechanism connects；Described wrist multi link level-ling mechanism includes a wrist axes being rotatably connected with swing arm
206, a top links 205 and bottom linkage rod the most some with described wrist 207, described wrist axes 206 is arranged
Having a master arm and a slave arm, the slave arm of the wrist axes 206 that the master arm of described wrist axes 206 is adjacent with top divides
The most hinged with transition link, the master arm of the axle of the top is hinged with the bottom of top links 205, described top links 205
Top and frame are hinged by the 3rd jointed shaft 203, the slave arm of the described wrist axes 206 of bottom and described bottom linkage rod
The top of 207 is hinged, and the bottom of described bottom linkage rod 207 and described wrist are hinged by the 4th jointed shaft 204；Described first,
Plane determined by the axis of plane determined by the axis of three jointed shafts and second, four jointed shafts is horizontal plane, described translation
The axis of connecting rod, top links 205 and bottom linkage rod 207 is parallel with the axis of described swing arm；
As shown in Figure 8, described Magnet drive mechanism 702 is electric magnet telescoping drive mechanism 702, described electric magnet connecting shaft
701 are in transmission connection by wrist booster engine with described electric magnet；Described electric magnet telescoping drive mechanism 702 one end and described wrist
Hinged, the other end of described electric magnet telescoping drive mechanism 702 is hinged with fork, and described fork is prevented with electric magnet connecting shaft 701
Turn and connect；Described wrist booster engine includes the driving gear being arranged in connecting shaft 701, the driven gear being arranged on electric magnet
And for driving gear being transferred at least one travelling gear of driven gear；Described driven gear and the biography of driving gear
Dynamic ratio is 3, and electric magnet needs to overturn 180 °, and electric magnet telescoping drive mechanism 702 drives fork to rotate 60 °.
As shown in figs. 9-11, described positioner is mobile ranging localization mechanism；Described mobile ranging localization mechanism includes
With bottom swing arm or crossbeam hinged range measurement mechanism, for keeping the level-ling mechanism of described measuring mechanism level and right
Answer the location-plate that described range measurement mechanism kinematic scope is arranged；The height of described location-plate 215 is not less than described swing arm bottom
The peak of motion and the difference of the height of minimum point；When described swing arm bottom moves to peak, described range measurement mechanism
The top of corresponding described location-plate 215, when described swing arm bottom moves to minimum point, described in described range measurement mechanism correspondence
The bottom of location-plate 215；Positioner also includes that motion control mechanism, described motion control mechanism include being arranged on described swing arm
Under in the range of the upper trigger mechanism in the range of rear 1/2 that moves upward, be arranged on that described swing arm moves downward rear 1/2
Trigger mechanism and with described upper trigger mechanism and the controller of described lower trigger mechanism communication；Described controller and described movement
The communication of ranging localization mechanism, described controller controls described driving means and described compensation device；Described upper trigger mechanism and institute
Stating lower trigger mechanism is proximity switch.Described range measurement mechanism includes shading protecting box 213 and is arranged on described shading protection
Laser ranging mechanism 214 in box 213；
As shown in figure 12, described electric magnet being provided with section bar clamping mechanism, described section bar clamping mechanism fixes for sliding
Mechanism；Described slip clamping mechanism includes the tooth plate 608 being slidably connected with described electric magnet and for driving described tooth plate 608
The tooth plate drive mechanism 607 slided, described tooth plate 608 is provided with, along section bar orientation, the fixing breach that section bar is suitable.
Embodiment three
As shown in figure 14, on the basis of embodiment 1, driving means is replaced by telescoping mechanism 304 by the present embodiment, described
Swing arm is connected with described first jointed shaft 201 anti-rotation, and the two ends of described telescoping mechanism 304 are cut with scissors with described swing arm and frame respectively
Connect.
In the present embodiment, swing arm is connected with described first jointed shaft 201 anti-rotation, is then driven by telescoping mechanism 304
One of them or several swing arm 2 are moved, and are now connected with described first jointed shaft 201 anti-rotation due to swing arm 2, therefore, and pendulum
Arm 2 also is able to motion.Employing telescoping mechanism 304 is directly driven swing arm 2 to move by the present embodiment, does not carry out transmission, it is possible to reduce
Energy expenditure in transmission process, improves energy conversion efficiency.
When the length of swing arm 2 is shorter, it is also possible to use wrist list connecting rod attitude regulation mechanism, described wrist list connecting rod appearance
State guiding mechanism includes that a transition link 209 be arrangeding in parallel with described swing arm is rotatably connected with described first jointed shaft 201
Rocking bar and drive the gesture drive mechanism 208 of described transition link 209 or described rocking bar 229, described transition link 209
Upper end and described rocking bar 229 are hinged by the 3rd jointed shaft 203, and the lower end of described transition link 209 and described wrist 7 are by the
Four jointed shafts 204 are hinged, put down determined by plane determined by the axis of described first and third jointed shaft and second, four jointed shafts
Face is parallel；Described wrist 7 is connected with described second jointed shaft 202 anti-rotation.
Said structure uses a parallel four-bar linkage, owing to wrist 7 is connected with described second jointed shaft 202 anti-rotation,
Therefore, the pose adjustment of individual wrist 7 also has been able to.Further, transmission link is few, it is possible to reduces the accumulation of machine error, also can
Enough reduce the energy expenditure in transmission process.
Same, when swing arm 2 is shorter, wrist level maintaining body can also use wrist list connecting rod level to keep machine
Structure, described includes a transition link be arrangeding in parallel with described swing arm, described translation for wrist list connecting rod level-ling mechanism
The upper end of connecting rod and described frame are hinged by the 3rd jointed shaft, and the 4th jointed shaft is passed through with described in the lower end of described transition link
Wrist is hinged, and plane determined by plane determined by the axis of described first and third jointed shaft and described second, four jointed shafts is
Horizontal plane；Described wrist is connected with described second jointed shaft anti-rotation.
Said structure one parallel four-bar linkage of employing, owing to wrist is connected with described second jointed shaft anti-rotation, therefore,
Individual wrist can keep level.Similarly, few due to transmission link, it is possible to reduce the accumulation of machine error, it is also possible to reduce and pass
Energy expenditure during Dong.
On the basis of above-described embodiment, it is also possible to described mobile ranging localization mechanism is replaced with fixing ranging localization machine
Structure, as shown in figure 13, described fixing ranging localization mechanism include with swing arm or crossbeam bottom hinged location-plate 215, for protecting
Hold the vertical vertical maintaining body of described location-plate 215 and the range measurement mechanism of corresponding described location-plate 215 setting；Described
Range measurement mechanism includes shading protecting box 213 and the laser ranging mechanism 214 being arranged in shading protecting box 213, described fixed
The height of position plate 215 is not less than the peak of described swing arm bottom motion and the difference of minimum point height；When described swing arm bottom is transported
When moving peak, the bottom of the corresponding described location-plate 215 of described range measurement mechanism, when described swing arm bottom moves to minimum
During point, the top of the corresponding described location-plate 215 of described range measurement mechanism.Said structure also be able to by measure swing arm lower end with
The distance of a certain fixing point is accurately positioned the position of swing arm.
On the basis of above-described embodiment, the clamping mechanism of electric magnet also has two kinds of feasible structures: overturn clamping mechanism
Or lifting clamp fixing structure.
Described upset clamping mechanism includes the tooth plate hinged with described electric magnet and for driving described tooth plate to overturn
Tooth plate drive mechanism, described tooth plate is provided with the fixing breach suitable with section bar along section bar orientation；When needs tooth plate
When fixing, tooth plate drive mechanism drives described tooth plate to downwardly turn over, and makes the breach that fixes of tooth plate be arranged under electric magnet
Side, at this moment, it is possible to fix section bar, when need not fix section bar, tooth plate drive mechanism drives tooth plate to be flipped up, and turns over
Forward to the top of electric magnet lower limb, so, not affect the electric magnet absorption to shaped steel.
Described lifting clamping mechanism includes the tooth plate being connected with the side slip of described electric magnet and drives described electromagnetism
The tooth plate drive mechanism of ferrum lifting；It is provided with section bar to adaptive fixing breach along section bar orientation on described tooth plate.When
When needing tooth plate to fix section bar, tooth plate driving means drives described tooth plate to decline, makes the fixing breach of tooth plate spill electric magnet
Lower limb, when need not tooth plate fix section bar time, tooth plate drive mechanism drive described tooth plate ramp up, make tooth plate fixing lack
Mouth is raised to the top of electric magnet lower limb, does not the most affect the electric magnet absorption to section bar.
On the basis of above-described embodiment, wrist can also be fixedly connected on crossbeam, and electric magnet is provided with angle inspection
Survey mechanism, so, by the angle that angle detection mechanism detection electric magnet is current, and, by solenoid actuated, mechanism drives
Electromagnet turnover, it is also possible to make electric magnet reach predetermined angle.
Above, only presently preferred embodiments of the present invention, but protection scope of the present invention is not limited thereto, any it is familiar with basis
Those skilled in the art in the technical scope that the invention discloses, the change that can readily occur in or replacement, all should contain
Within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain that claim is defined.
Claims (7)
1. a high speed piling system, it is characterised in that: include Palletizer, for lifting the jacking equipment of section bar；
Described Palletizer includes " ┤ " shape frame, upset electric magnet, tooth plate, wrist, driving means, pre-tightening apparatus；Described machine
Frame includes that vertical section and horizontal segment, the rear end of described horizontal segment are connected with the middle part of described vertical section；Before described rack level section
End is hinged with swing arm by the first jointed shaft；The lower end of described swing arm is hinged with wrist by the second jointed shaft；On described wrist
It is provided with upset electric magnet, described upset electric magnet is hinged with tooth plate；Described driving means is arranged on above rack level section,
Drive described swing arm motion；Described pre-tightening apparatus is arranged on the lower section of rack level section；
Described jacking equipment includes that hoistable platform, position block, described position block are arranged on hoistable platform.
High speed piling system the most according to claim 1, it is characterised in that: described wrist is with multi link attitude-adjusting system even
Connecing, described multi link attitude-adjusting system includes a wrist connecting shaft, a top links and the end corresponding with described wrist
Portion's connecting rod is rotatably connected with described first jointed shaft rocking bar and for adjusting the gesture drive mechanism of described wrist attitude；Institute
Stating and be provided with master arm and slave arm in wrist connecting shaft, the wrist that the master arm of described wrist connecting shaft is adjacent with top connects
The slave arm of axle is hinged with transition link respectively, and the master arm of the connecting shaft of the top is hinged with the bottom of top links, described
The top of top links and rocking bar are hinged by the 3rd jointed shaft, the slave arm of the described wrist connecting shaft of bottom and the described end
The top of portion's connecting rod is hinged, and the bottom of described bottom linkage rod and described wrist are hinged by the 4th jointed shaft；Described first and third hinge
Plane determined by plane determined by the axis of spindle and the axis of second, four jointed shafts is parallel, described transition link, top
The axis of connecting rod and bottom linkage rod is parallel with the axis of described swing arm；Described gesture drive mechanism drive described top links or
Described rocking bar moves.
High speed piling system the most according to claim 1, it is characterised in that: described position block is alternately block, described
Alternately block includes the forward and backward block being arranged in order along the section bar direction of motion and the block lifting driving described positive stop to lift
Mechanism, said two block is met and is provided with spacing trigger mechanism to the side in the direction of section bar motion.
High speed piling system the most according to claim 1, it is characterised in that: described pre-tightening apparatus include two ends respectively with institute
State frame and the hinged elastic mechanism of described swing arm and for regulating the flexible adjustment mechanism of the elastic force of described elastic mechanism；
Described elastic mechanism includes cylinder and the gas bag connected with described cylinder, described flexible adjustment mechanism include source of the gas, for
Connect source of the gas and the source of the gas treatment element of gas bag and be arranged on the air gauge on described gas bag；
Or, described elastic mechanism includes spring, described flexible adjustment mechanism to include for regulating spring and is connected position with machine frame
The position adjusting mechanism put.
High speed piling system the most according to claim 1, it is characterised in that: it is provided with angular transducer in described swing arm fixed
Position mechanism, described angular transducer detent mechanism includes the angular transducer connected by booster engine and the first jointed shaft, described
First jointed shaft is connected with the low speed end of described booster engine, and described angular transducer is connected with the speed end of described booster engine, institute
Stating swing arm to be connected with described first jointed shaft anti-rotation, the product of the angular range of described swing arm motion and the speed increasing ratio of booster engine is not
Range more than described angular transducer.
High speed piling system the most according to claim 1, it is characterised in that: it is provided with stroke compensating mechanism, institute in frame
State stroke compensating mechanism and include the stroke compensation mount hinged with described frame and with described stroke compensation mount away from described
The stroke compensation drive mechanism that frame side is hinged；In the middle part of described driving means and described stroke compensation mount hinged；Described benefit
Repay the kinematic accuracy of driving means higher than described driving means.
7. a high speed piling system, it is characterised in that: include " ┤ " shape frame, swing arm, driving means, wrist and upset magnetic
Ferrum；Described frame includes that horizontal segment and vertical section, described horizontal segment one end are connected with described vertical section top, described rack level
Duan Qianduan is hinged with swing arm by the first jointed shaft；Swing arm lower end is hinged with by the second jointed shaft, wrist；Set on described wrist
Being equipped with upset electric magnet, described driving means is arranged between described frame and swing arm hinged with swing arm.
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