CN106144635B - High speed piling system - Google Patents
High speed piling system Download PDFInfo
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- CN106144635B CN106144635B CN201610799022.8A CN201610799022A CN106144635B CN 106144635 B CN106144635 B CN 106144635B CN 201610799022 A CN201610799022 A CN 201610799022A CN 106144635 B CN106144635 B CN 106144635B
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- hinged
- wrist
- swing arm
- rack
- articulated shaft
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of high speed piling system, including Palletizer, the lifting device for going up and down profile；The Palletizer includes " ┤ " shape rack, overturning electromagnet, tooth plate, wrist, driving device, pre-tightening apparatus；The rack includes vertical section and horizontal segment, and the rear end of the horizontal segment is connect with the middle part of the vertical section；Rack level section front end is hinged with swing arm by the first articulated shaft；The lower end of the swing arm is hinged with wrist by the second articulated shaft；It is provided with overturning electromagnet on the wrist, is hinged with tooth plate on the overturning electromagnet；The driving device is arranged above rack level section, drives the swing arm motion；The lower section of rack level section is arranged in the pre-tightening apparatus；The lifting device includes hoistable platform, position block, and the position block is arranged on hoistable platform.
Description
Technical field
The present invention relates to a kind of profile production equipment, specifically a kind of high speed piling system.
Background technique
Profile stacking machine is arranged in profile workshop rear portion finished product process tail end, scale profile stacking is used for, to satisfy the criteria
It requires according to certain mode pile into pile with the merchant shapes packing specification in market to delivery to customer product, to realize material
Storage, carrying, handling transport etc. logistics activities.Current profile stacking machine mostly uses greatly hand stowage mode or " running vehicle type "
Stacking mode, hand stowage mode great work intensity, required operating worker quantity is more, and cost of labor is big, and working efficiency is low, code
Pile packaging quality is poor；Row hangs mode using automatic stacking system, reduces cost of labor, but that there are speed is low, position precision is poor, work
The disadvantages of skill rhythm is slow and anti-interference ability is weak poor with all fronts profile continuous rolling process production capacity matching.
Summary of the invention
In view of the above-mentioned problems, the present invention provides, a kind of stacking speed is fast, high speed piling system with high accuracy.
In order to achieve the above objectives, high speed piling system of the present invention is set including Palletizer, for going up and down the lifting of profile
It is standby；
The Palletizer includes rack, overturning electromagnet, tooth plate, wrist, driving device, pre-tightening apparatus；The rack
Including vertical section and horizontal segment, the rear end of the horizontal segment is connect with the middle part of the vertical section；Rack level section front end
Swing arm is hinged with by the first articulated shaft；The lower end of the swing arm is hinged with wrist by the second articulated shaft；It is set on the wrist
It is equipped with overturning electromagnet, is hinged with tooth plate on the overturning electromagnet；The driving device is arranged above rack level section, drives
Move the swing arm motion；The lower section of rack level section is arranged in the pre-tightening apparatus；
The lifting device includes hoistable platform, position block, and the position block is arranged on hoistable platform.
Preferably, the wrist is connect with multi link attitude-adjusting system, the multi link attitude-adjusting system includes one
Root wrist connecting shaft, a top links and bottom linkage rod corresponding with the wrist are connected with first articulated shaft rotation
Rocking bar and gesture drive mechanism for adjusting the wrist posture；Master arm and driven is provided in the wrist connecting shaft
The slave arm of arm, the master arm of the wrist connecting shaft wrist connecting shaft adjacent with top is hinged with transition link respectively, most
The master arm of the connecting shaft of top and the bottom end of top links are hinged, and the top of the top links and rocking bar are hinged by third
Axis is hinged, and the top of the slave arm and the bottom linkage rod of the wrist connecting shaft of bottom is hinged, the bottom linkage rod
Bottom end is hinged by the 4th articulated shaft with the wrist；Plane determined by the axis of first and third articulated shaft and second, four
Plane determined by the axis of articulated shaft is parallel, the axis of the transition link, top links and bottom linkage rod and the pendulum
The axis of arm is parallel；The gesture drive mechanism drives the top links or rocking bar movement；
Preferably, the position block is alternating block, the alternately block includes being arranged successively along the profile direction of motion
Forward and backward block and driving positive stop lifting block elevating mechanism, described two blocks meet the side moved to profile
To side be provided with limit trigger mechanism.
Preferably, the pre-tightening apparatus include both ends respectively the elastic mechanism hinged with the rack and the swing arm and
For adjusting the flexible adjustment mechanism of the elastic force of the elastic mechanism；
The elastic mechanism includes cylinder and the gas bag that is connected to the cylinder, the flexible adjustment mechanism include gas source,
Air gauge for being connected to the gas source processing element of gas source and gas bag and being arranged on the gas bag；
Alternatively, the elastic mechanism includes spring, the flexible adjustment mechanism includes connecting for adjustment spring and machine rack
Connect the position adjusting mechanism of position.
Preferably, being provided with angular transducer positioning mechanism in the swing arm, the angular transducer positioning mechanism includes
By the angular transducer of booster engine and the first hinged axis connection, the low speed end of first articulated shaft and the booster engine connects
It connects, the angular transducer is connect with the speed end of the booster engine, and the swing arm is connect with the first articulated shaft anti-rotation, institute
The product for stating the angular range of swing arm motion and the speed increasing ratio of booster engine is not more than the range of the angular transducer.
Preferably, being provided with stroke compensating mechanism in rack, the stroke compensating mechanism includes hinged with the rack
Stroke compensation mount and the stroke compensation driving mechanism hinged far from the rack side with the stroke compensation mount；It is described
It is hinged in the middle part of driving device and the stroke compensation mount；The kinematic accuracy of the compensation driving device is filled higher than the driving
It sets.
In order to achieve the above objectives, high speed piling system of the present invention, including " ┤ " shape rack, swing arm, driving device, wrist
With overturning magnet；The rack includes horizontal segment and vertical section, and described horizontal segment one end is connect with the vertical section top, described
Rack level section front end is hinged with swing arm by the first articulated shaft；Swing arm lower end is hinged with by the second articulated shaft, wrist；It is described
Overturning electromagnet is provided on wrist, the driving device setting is hinged with swing arm between the rack and swing arm.
Preferably, the driving device include driving mechanism and the corresponding drive link of swing arm, it is corresponding with drive link
Rocking bar, one end of the drive link and the rocking bar are hinged, and the other end of the drive link and the swing arm are hinged；
Alternatively, the swing arm is connect with the first articulated shaft anti-rotation, the driving device includes a telescoping mechanism, institute
The both ends for stating telescoping mechanism are hinged with the swing arm and rack respectively.
Preferably, the driving device is hinged by compensation device and rack；
The compensation device include the compensation mount hinged with the rack and with the compensation mount far from the machine
The hinged compensation driving mechanism in frame side；It is hinged in the middle part of the driving device and the compensation mount；The compensation driving device
Kinematic accuracy be higher than the driving device；
Alternatively, the compensation device includes the compensation mount connecting with the housing slide and the driving compensation mount
The compensation driving mechanism of sliding, the driving device are connect with the compensation mount.
Preferably, the pre-tightening apparatus include both ends respectively the elastic mechanism hinged with the rack and the swing arm and
For adjusting the flexible adjustment mechanism of the elastic force of the elastic mechanism；
The elastic mechanism includes cylinder and the gas bag that is connected to the cylinder, the flexible adjustment mechanism include gas source,
Air gauge for being connected to the gas source processing element of gas source and gas bag and being arranged on the gas bag；
Alternatively,
The pre-tightening apparatus includes both ends respectively with the rack and the hinged elastic mechanism of the swing arm and for adjusting
Save the flexible adjustment mechanism of the elastic force of the elastic mechanism；
The elastic mechanism includes spring, and the flexible adjustment mechanism includes for adjustment spring and machine rack link position
Position adjusting mechanism.
Preferably, the wrist and the crossbeam are hinged by the second articulated shaft, the Palletizer further includes and wrist
The wrist level holding mechanism or wrist attitude-adjusting system of connection；
The wrist level holding mechanism is wrist single connecting rod level-ling mechanism or wrist multi link level-ling mechanism；
The wrist multi link level-ling mechanism includes the wrist connecting shaft connected with swing arm rotation, a top
Connecting rod and bottom linkage rod corresponding with the wrist, the wrist is the same as being provided with master arm and slave arm, the wrist in connecting shaft
The slave arm of the master arm of the portion's connecting shaft wrist connecting shaft adjacent with top is hinged with transition link respectively, the connection of the top
The master arm of axis and the bottom end of top links are hinged, and the top of the top links and rack are hinged by third articulated shaft, most
The top of the slave arm and the bottom linkage rod of the wrist connecting shaft of lower section is hinged, the bottom end of the bottom linkage rod with it is described
Wrist is hinged by the 4th articulated shaft；The axis of plane determined by the axis of first and third articulated shaft and second, four articulated shafts
Plane determined by line is horizontal plane, the axis of the axis of the transition link, top links and bottom linkage rod and the swing arm
Line is parallel；
It is described to include one and swing arm transition link disposed in parallel for wrist single connecting rod level-ling mechanism, it is described
The upper end of transition link and the rack are hinged by third articulated shaft, the lower end of the transition link by the 4th articulated shaft with
The wrist is hinged, and plane determined by the axis of first and third articulated shaft is put down with determined by described second, four articulated shafts
Face is horizontal plane；The wrist is connect with the second articulated shaft anti-rotation；
The wrist attitude-adjusting system is wrist single connecting rod attitude-adjusting system or wrist multi link attitude-adjusting system；
The wrist multi link attitude-adjusting system include a wrist connecting shaft, a top links and with the wrist
Corresponding bottom linkage rod connects rocking bar and the gesture drive for adjusting the wrist posture with first articulated shaft rotation
Mechanism；At least one master arm and at least one slave arm, the master of the wrist connecting shaft are provided in the wrist connecting shaft
The slave arm of the swing arm wrist connecting shaft adjacent with top is hinged with transition link respectively, the master arm of the connecting shaft of the top with
The bottom end of top links is hinged, and the tops of the top links and rocking bar are hinged by third articulated shaft, the wrist of bottom
The slave arm of portion's connecting shaft and the top of the bottom linkage rod are hinged, and the bottom end of the bottom linkage rod and the wrist pass through the 4th
Articulated shaft is hinged；It is put down determined by the axis of plane determined by the axis of first and third articulated shaft and second, four articulated shafts
Face is parallel, and the axis of the transition link, top links and bottom linkage rod is parallel with the axis of the swing arm；The posture is driven
Motivation structure drives the top links or rocking bar movement；
The wrist single connecting rod attitude-adjusting system include one with swing arm transition link disposed in parallel, with it is described
The rocking bar of first articulated shaft rotation connection and the gesture drive mechanism for driving the transition link or the rocking bar, the translation
The upper end of connecting rod is hinged by third articulated shaft with the rocking bar, and the lower end of the transition link and the wrist pass through the 4th hinge
Spindle is hinged, and plane determined by the axis of first and third articulated shaft is parallel with plane determined by second, four articulated shafts；
The wrist is connect with the second articulated shaft anti-rotation；
Preferably, being provided with positioning device on Palletizer, the positioning device is mobile ranging localization mechanism, fixed survey
Away from positioning mechanism or angular transducer positioning mechanism；
The mobile ranging localization mechanism includes with the hinged range measurement mechanism of swing arm or crossbeam bottom, for keeping described
The level-ling mechanism of measuring mechanism level and the positioning plate of the corresponding range measurement mechanism kinematic range setting；It is described fixed
Difference of the height of position plate not less than the height of the highest point and the lowest point of swing arm bottom end movement；When the swing arm bottom end moves
When to highest point, the range measurement mechanism corresponds to the top of the positioning plate, when the swing arm bottom end moves to minimum point,
The range measurement mechanism corresponds to the lower part of the positioning plate；Alternatively, the positioning plate includes the corresponding range measurement mechanism
The upper positioning plate of rear 1/2 setting of range of upward movement and rear the 1/2 of corresponding range measurement mechanism downward range of motion are set
The lower positioning plate set；When the swing arm bottom end moves to highest point, the range measurement mechanism corresponds to the upper positioning plate, when
When the swing arm bottom end moves to minimum point, the range measurement mechanism corresponds to the lower positioning plate；
The fixed ranging localization mechanism includes the positioning plate hinged with swing arm or crossbeam bottom, for keeping the positioning
The vertical vertical holding mechanism of plate and the range measurement mechanism of the corresponding positioning plate setting；The height of the positioning plate is not small
In the difference of the highest point and the lowest point height of swing arm bottom end movement；It is described when the swing arm bottom end moves to highest point
Range measurement mechanism corresponds to the lower part of the positioning plate, when the swing arm bottom end moves to minimum point, the range measurement machine
Structure corresponds to the top of the positioning plate；Alternatively, the upper measuring mechanism of rear 1/2 setting of the corresponding positioning plate range of upward movement
With the correspondence positioning plate downward range of motion it is rear 1/2 setting lower range measurement mechanism, when the swing arm bottom end moves to
When highest point, the positioning plate corresponds to the upper measuring mechanism, when the swing arm bottom end moves to minimum point, the positioning plate
The corresponding lower measuring mechanism；
The angular transducer positioning mechanism include by the angular transducer of booster engine and the first hinged axis connection, it is described
First articulated shaft is connect with the low speed end of the booster engine, and the angular transducer is connect with the speed end of the booster engine, institute
It states swing arm to connect with the first articulated shaft anti-rotation, the product of the speed increasing ratio of the angular range and booster engine of the swing arm motion is not
Greater than the range of the angular transducer.
Preferably, be provided with profile clamping mechanism on the electromagnet, the profile clamping mechanism be sliding clamping mechanism,
Overturn clamping mechanism or lifting clamping mechanism；
The sliding clamping mechanism includes the tooth plate being slidably connected with the electromagnet and for driving the tooth plate sliding
Dynamic tooth plate driving mechanism is provided with the compatible fixing notch of profile along profile orientation on the tooth plate；
The overturning clamping mechanism includes the tooth plate hinged with the electromagnet and for driving the tooth plate to overturn
Tooth plate driving mechanism is provided with fixing notch compatible with profile along profile orientation on the tooth plate；
Preferably, the lifting clamping mechanism includes the tooth plate being slidably connected with the side of the electromagnet and driving institute
State the tooth plate driving mechanism of electromagnet lifting；It is provided on the tooth plate along profile orientation and is lacked with profile to the fixing being adapted to
Mouthful.
Preferably, positioning device further includes motion control mechanism, the motion control mechanism includes being arranged in the swing arm
The upper trigger mechanism in the range of rear 1/2 that moves upwards, be arranged in the swing arm moves downward rear 1/2 in the range of under
Trigger mechanism and the controller communicated with the upper trigger mechanism and the lower trigger mechanism；The controller and the movement
Ranging localization mechanism, fixed ranging localization mechanism and the angular transducer positioning mechanism communicate, described in the controller control
Driving device and the compensation device；The upper trigger mechanism and the lower trigger mechanism are close to switch.
Preferably, the magnet driving mechanism is electromagnet telescoping drive mechanism, the electromagnet connecting shaft and the electricity
Magnet is sequentially connected by wrist booster engine；Electromagnet telescoping drive mechanism one end and the wrist are hinged, the electromagnetism
The other end of iron telescoping drive mechanism and swing rod are hinged；The wrist booster engine includes the driving gear being arranged on axis, setting
Driven gear on electromagnet and for by least one transmission gear of the motion transmission of driving gear to driven gear；
The transmission ratio of the driven gear and driving gear is m/n, wherein m is the rotation angle of electromagnet, and n, which is that electromagnet is flexible, to be driven
Motivation structure drives the angle of swing rod rotation；
Or the electromagnet drive mechanism is electromagnet rotary drive mechanism；The electromagnet rotary drive mechanism includes
The output shaft of rotating hydraulic cylinder or decelerating motor, the rotating hydraulic cylinder or decelerating motor is connect with the electromagnet.
Preferably, being provided with stroke compensating mechanism in the rack, the stroke compensating mechanism includes cutting with scissors with the rack
The stroke compensation mount and the stroke compensation driving mechanism hinged far from the rack side with the stroke compensation mount connect；
It is hinged in the middle part of the driving device and the stroke compensation mount；The kinematic accuracy of the compensation driving device is higher than the driving
Device；
Alternatively, the stroke compensating mechanism includes described in the stroke compensation mount connecting with the housing slide and driving
The stroke of stroke compensation mount sliding compensates driving mechanism, and the driving device is connect with the stroke compensation mount.
High speed piling system of the present invention utilizes the multi link attitude-adjusting system energy connecting with wrist in swing arm motion
So that wrist is remained horizontal, and then keep the electromagnet holding that wrist is set horizontal, ensure that electromagnet draw profile it
Before can be parallel with hoistable platform；Using the overturning tooth plate being arranged on electromagnet, electromagnet is enabled alternately to draw code angle steel
With radix-minus-one complement angle steel；Using the self weight or load of pre-tightening mechanism carrying swing arm, in such manner, it is possible to which swing arm is made to be in the shape close to balance
State can be such that swing arm responds rapidly to when driving device drives swing arm, simultaneously as the weight of swing arm is pre-tightened and filled
Setting carrying can be such that the movement velocity of swing arm accelerates, the response speed and movement velocity of swing arm all add when driving device drives swing arm
Mean that the working efficiency of manipulator can greatly improve fastly；It, can be to pendulum using the angular transducer being arranged in swing arm
The swing position of arm is accurately positioned, and greatly improves control precision of the profile in entire palletization all.
Detailed description of the invention
Fig. 1 is first example structure schematic diagram of high speed piling system Palletizer of the present invention；
Fig. 2 is one embodiment partial structural 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 schematic diagram of high speed piling system perspective sensor positioning mechanism；
Fig. 5 is the structural schematic diagram of second embodiment of high speed piling system of the present invention；
Fig. 6 is a kind of preferred combination of compensation device and driving device；
Fig. 7 is the schematic diagram of the multi link wrist level holding mechanism 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 of the mobile ranging localization mechanism of high speed piling system of the present invention；
Figure 10 is the work flow diagram of high speed piling system positioning device of the present invention；
Figure 11 is the work flow diagram of high speed piling system positioning device of the present invention
Figure 12 is the structural schematic diagram of high speed piling system translation clamping mechanism of the present invention；
Figure 13 is the structural schematic diagram of the fixed ranging localization mechanism of high speed piling system of the present invention；
Figure 14 is high speed piling system Palletizer third example structure schematic diagram of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings of the specification.
In the present invention, " preceding " refers to direction of the rack towards hoistable platform, and " rear " refers to side of the rack backwards to hoistable platform
To.
The wrist is for connecting boom and overturning magnet；Or the connection structure of connecting cross beam and overturning magnet, institute
Stating connection structure is two pieces of connecting plates that the overturning magnet two sides are arranged in, one piece of connecting plate that overturning magnet side is arranged in
Or other connection structures.
Embodiment one
As shown in Figure 1 and Figure 2, the present embodiment high speed piling system, the Palletizer include rack 1, overturning electromagnet 6,
Tooth plate 608, wrist 7, driving device, pre-tightening apparatus 5；The rack is " ┤ " shape rack, and the rack includes 102 He of vertical section
Horizontal segment 101, the rear end of the horizontal segment 101 are connect with the middle part of the vertical section 102；101 front end of rack level section
Swing arm 2 is hinged with by the first articulated shaft 201；The lower end of the swing arm 2 is hinged with wrist 7 by the second articulated shaft 202；It is described
Wrist 7 is provided with overturning electromagnet 6；Tooth plate 608 is hinged on the overturning electromagnet；The driving device is arranged in rack water
Below flat section, the swing arm motion is driven；The lower section of rack level section is arranged in the pre-tightening apparatus 5；The wrist with connect more
Bar attitude-adjusting system connection, the multi link attitude-adjusting system include a wrist connecting shaft, a top links and with
The corresponding bottom linkage rod of wrist and first articulated shaft rotation connect rocking bar and for adjusting the wrist posture
Gesture drive mechanism；Be provided with master arm and slave arm in the wrist connecting shaft, the master arm of the wrist connecting shaft with it is upper
The slave arm of the wrist connecting shaft of Fang Xianglin is hinged with transition link respectively, the master arm and top links of the connecting shaft of the top
Bottom end it is hinged, the tops of the top links and rocking bar are hinged by third articulated shaft, the wrist connecting shaft of bottom
Slave arm and the bottom linkage rod top it is hinged, the bottom end of the bottom linkage rod and the wrist pass through the 4th articulated shaft hinge
It connects；Plane determined by the axis of first and third articulated shaft is parallel with plane determined by the axis of second, four articulated shafts,
The axis of the transition link, top links and bottom linkage rod is parallel with the axis of the swing arm；The gesture drive mechanism
The top links or the rocking bar are driven to move；
The lifting device includes hoistable platform, position block, and the position block is arranged on hoistable platform；It is described fixed
Position block is that alternately block, the alternately block include the forward and backward block being arranged successively along the profile direction of motion and driving institute
The block elevating mechanism of positive stop lifting is stated, the side that described two blocks meet the direction moved to profile is provided with limit touching
Send out mechanism
Stroke compensating mechanism is provided in the rack, the stroke compensating mechanism includes the stroke hinged with the rack
Compensation mount and the stroke compensation driving mechanism hinged far from the rack side with the stroke compensation mount；The driving
It is hinged in the middle part of device and the stroke compensation mount；The kinematic accuracy of the compensation driving device is higher than the driving device.
As shown in 3 figures, pre-tightening apparatus 5 is provided with below the horizontal segment of the rack, the pre-tightening apparatus includes both ends point
The not flexible adjustment of the elastic mechanism hinged with the rack and the swing arm and the elastic force for adjusting the elastic mechanism
Mechanism；The elastic mechanism includes cylinder 501 and the gas bag being connected to the cylinder 510, and the flexible adjustment mechanism includes gas
Source 516, the gas source processing element 512 for being connected to gas source 516 and gas bag 510 and the air pressure being arranged on the gas bag 510
Table 511；The balance cylinder 501 is mounted between swing arm 2 and frame body 1, and swing arm self weight is supported in 2 action process of swing arm.
The air supply system includes gas source 516, gas bag 510, air gauge 511, gas source processing three elements 512, welded still pipe
503 and ball valve 513, the gas source 516 handles three elements by reducing joint 515, welded still pipe 514, ball valve 513 and gas source
512 are inflated compressed-air-storing to gas bag 510, manually adjustable ball valve 513 to gas bag 510, and gas bag 510 is also adjusted
On relief valve deflate.The gas bag 510 is equipped with air gauge 511, can read 510 atmospheric pressure value of gas bag in real time；The gas
Cylinder air admission unit 502 is welded by welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506, union 507
Steel pipe 508 and pipe reducer 509 are connect with gas bag 510, can be turned off manually or open ball valve 506 to control gas bag 510
With the gas distribution channel between balance cylinder 501.It states gas bag 510 and is placed on 1 side of palletizing mechanical arm frame body or more nearby, gas bag
Ball valve 506 between 510 and cylinder is mounted on frame body 1 convenient for the position of operation.
As shown in figure 4, angular transducer positioning mechanism is provided in the swing arm, the angular transducer positioning mechanism packet
The angular transducer 212 by booster engine 210 and the first hinged axis connection is included, the shell of the angular transducer 212 is mounted on
On rotating base 211, the rotating base 211 is connected with shell or the rotation of the first articulated shaft, is arranged on the rotating base 211
Have locking device rotating base 211 being locked on shell or the first articulated shaft, first articulated shaft and the booster engine
210 low speed end connection, the angular transducer 212 connect with the speed end of the booster engine 210, the swing arm and described the
The product of the connection of one articulated shaft anti-rotation, the speed increasing ratio of the angular range and booster engine 210 of the swing arm motion is not more than the angle
Spend the range of sensor 212.First articulated shaft is connect by speeder with angular transducer 212 by above structure, when first
When articulated shaft rotates an angle, speeder is expanded the range of the measuring section of angular transducer 212 by speedup, with around here
Connect the resolution ratio of enhancing angular transducer 212.When manipulator is swung, axis of the mechanical movement around arm end is carried out
Rotary motion, while with regard to driving the booster engine 210 being connected on axis to run.If swing arm traffic coverage is [0, A], by booster engine
After 210 speed ratio k amplification, 210 speed end traffic coverage of booster engine is really [0, kA].If sensor resolution is B, due to sensing
Device is connected to 210 speed end of booster engine, so the Measurement Resolution of 210 speed end of booster engine is B, and 210 low speed end of booster engine
Measurement Resolution be B/k, that is to say, that measuring device proposed by the present invention, the resolution ratio measured for swing arm are B/
K, precision improve k times.
The course of work of the high speed piling system of the present embodiment is carried out by taking the palletization of small dimension angle steel as an example below
Illustrate:
A kind of original state of the present embodiment is as shown, under this state, the swing arm drive device 3 is in swing arm 2
Plumbness, 6 magnetic poles of the overturning electromagnet are downward.
When positive code steel, the swing arm drive device 3 drives connecting lever 303 to rotate, and then drive link 301 is driven to push pendulum
Arm 2 is swung forward, is connect above steel position until overturning electromagnet 6 is located at fashioned iron, and then hoistable platform moves upwards, when lifting is flat
Platform main body moves upward to the position that angle steel is drawn suitable for electromagnet 6, and then electromagnet suction 6 takes angle steel, when the absorption of electromagnet
When angle steel, the turning of angle steel is fixed in the fixing notch of tooth plate 608, makes angle steel that posture be kept not change, angle steel is put
To designated position.
Then carry out reversed code steel, need first stacking profile by hoistable platform be promoted to it is higher connect steel position, then drive
Mechanism 302 acts, and drives swing arm forward swing to turn over to steel position, subsequent electromagnet is connect by connecting lever 303, rocking bar 303 and connecting rod 301
Turn, makes to draw angle steel in magnetic pole horizontal direction.It is in " ︿ ︿ ︿ " shape since angle steel is in code, when angle steel radix-minus-one complement, is superimposed upon previously
On the good angle steel of code, it is inShape, code, that is, angle steel is opening down, and radix-minus-one complement, that is, angle steel is opening up.
When angle steel code, since the closed angle end for being angle steel is single line contact, contact area very little with electromagnet 6 upward, it is easy to
Rollover is generated on electromagnet 6, so guiding tooth plate 608 must be arranged on electromagnet, the angle steel of code is oriented to.But
During subsequent radix-minus-one complement, guiding tooth plate 608 can interfere with the angle steel of code, it is therefore desirable to make the edge and horizontal plane of angle steel
Contact, therefore need to drive tooth plate 608 to move by tooth plate driving mechanism 607 before drawing angle steel, make the edge and tooth of angle steel
The straight portion of plate 608 is aligned.Then grouping lifting platform move downward, angle steel draw on electromagnet 6, lifting platform to be grouped from
After opening overturning region, electromagnet telescoping drive mechanism 702 is retracted, and overturning electromagnet 6 reversely rotates 180 °；Then driving device
302 driving connecting levers 303 move, and drive swing arm 2 to be rocked to reversed code steel position by rocking bar 303 and connecting rod 301, in place to swing arm
Afterwards, 6 power loss of electromagnet is overturn, is fallen on stacking lifting platform under steel.
High speed piling system of the present invention, due to using ┤ " shape rack, the middle part of swing arm 2 and horizontal segment 101 are hinged, in this way,
The top of swing arm 2 forms counterweight to lower part, and swing arm 2 is made to be in the state close to balance, power and top when pre-tightening mechanism application
When the power that the weight that the resultant force that counterweight applies is greater than 2 lower part of swing arm applies, swing arm 2 can be swung up, and connecting rod 301 is subject at this time
Power is pulling force, and after manipulator feeding, weight increases, when needing to lower swing, 303 driving mechanism 302 of rocking bar retraction, by turning
The transmission of arm, rocking bar 303 and connecting rod 301 pulls swing arm 2, and connecting rod 301 remains application pulling force at this time, and swing arm 2 is being transported as a result,
The power of pre-tightening apparatus 5 and driving device does not all commutate during dynamic, can eliminate hinge gap,
In the motion process of swing arm, the pressure in the gas bag 510 of the present embodiment should meet: one, balance cylinder 501 pushes away
The trimming moment that power generates is slightly larger than the maximum load moment of resistance generated of being self-possessed during swing arm motion, and two, gas bag 510 is entire
Pressure is basically unchanged during driving.Under the conditions of above-mentioned two, the effect of no drive link, swing arm will be in balance cylinder 501
Thrust lower swing to foremost position, therefore the stress of drive link becomes tension from original compression, avoids the occurrence of compression bar
Unstable phenomenon；After 2 forward swing of swing arm connects steel, the weight of steel is increased, becoming larger for loading moment is conducive to swing arm backswing, and driving connects
The pulling force of bar also reduces therewith；In 2 action process of swing arm, balance cylinder 501 is constantly in thrust rating, and driving pull rod is always
In tension state, connecting component stress does not commutate, so that eliminating the gap of hinged place influences.Be conducive to swing arm swinging
Precision in the process improves；Using multi link attitude-adjusting system,；It is accurate to survey by the rangefinder being arranged on hoistable platform
The adjustable height of hoistable platform is measured.It is in due to being stacked on the good angle steel of code in radix-minus-one complement angle steelShape, institute
A certain distance can be differed with the position of code angle steel and radix-minus-one complement angle steel on electromagnet, therefore code angle steel and radix-minus-one complement angle steel stop
Staying in the position on hoistable platform can be different, and the present invention will be limited just by the block that alternately lifting is arranged on hoistable platform
The stop place of code angle steel and radix-minus-one complement angle steel on hoistable platform, enables angle steel to be inhaled by magnet in scheduled position.
Embodiment two
As shown in figure 5, the high speed piling system of the present embodiment, including " ┤ " shape rack, swing arm, driving device, wrist and
Overturn magnet；The rack includes horizontal segment and vertical section, and described horizontal segment one end is connect with the vertical section top, the machine
Frame horizontal segment front end is hinged with swing arm by the first articulated shaft；Swing arm lower end is hinged with wrist, the wrist by the second articulated shaft
Portion includes the link block that swing arm bottom is arranged in, and the link block top and bottom extend to form upper substrate under to two sides respectively
Substrate, the lower substrate are provided with overturning electromagnet；The driving device is arranged between the rack and swing arm cuts with scissors with swing arm
It connects.
The Palletizer includes rack 1, overturning electromagnet 6, overturning tooth plate 608, wrist 7, driving device；The rack
For " ┤ " shape rack, including vertical section 102 and horizontal segment 101, in the rear end of the horizontal segment 101 and the vertical section 102
Portion's connection；Rack level section front end is hinged with swing arm 2 by the first articulated shaft 201；Swing arm lower end passes through the second articulated shaft
202 are hinged with wrist 7；Front end on the wrist 7 is provided with overturning electromagnet 6；The overturning tooth plate is hinged on the overturning
On electromagnet 6；The driving device is arranged above rack level section, and the driving device includes driving mechanism 302, and driving connects
Bar 301, rocking bar 303 corresponding with drive link 301, one end of the connecting rod 301 and the rocking bar 303 are hinged, the connecting rod
301 other end and the swing arm are hinged；One of rocking bar 303 is the one arm of connecting lever, and driving mechanism 302 is electric cylinders driving
The lower section of rack level section is arranged in the swing arm motion, pre-tightening apparatus 5；
The driving device can be set above or below rack level section, naturally it is also possible to after rack is arranged in
Face.
The driving device includes and the corresponding several drive links 301 of swing arm, rocking bar corresponding with drive link 301
303, the driving mechanism 302 rotated with the connecting shaft 305 and the driving connecting shaft 305 for being drivingly connected structure rotation connection,
The rocking bar 303 is connect with 305 anti-rotation of connecting shaft, and one end of the connecting rod 301 and the rocking bar 303 are hinged, the company
The other end of bar 301 and the swing arm are hinged；One of rocking bar 303 be connecting lever one arm, driving mechanism 302 be electric cylinders,
Hydraulic cylinder or cylinder, the telescopic rod of the electric cylinders, hydraulic cylinder or cylinder and another arm of the connecting lever are hinged, the electric cylinders,
The cylinder body of hydraulic cylinder or cylinder is hinged by compensation device and the rack.
The driving device is hinged by the compensation device and the rack；
As shown in fig. 6, the compensation device include the compensation mount 401 hinged with the rack and with the compensation bottom
The 401 compensation driving mechanisms 402 hinged far from the rack side of seat；401 middle part of the driving device and the compensation mount
Hingedly；The kinematic accuracy of the compensation driving device is higher than the driving device；
As shown in fig. 7, the wrist and the crossbeam are hinged by the second articulated shaft 202, the wrist connects more with wrist
The connection of bar level-ling mechanism；The wrist multi link level-ling mechanism includes the wrist axes of one with swing arm rotation connection
206, a top links 205 and with the wrist several bottom linkage rods 207 correspondingly, be arranged in the wrist axes 206
There are a master arm and a slave arm, the slave arm point of the master arm of the wrist axes 206 wrist axes 206 adjacent with top
Not hinged with transition link, the master arm of the axis of the top and the bottom end of top links 205 are hinged, the top links 205
Top and rack are hinged by third articulated shaft 203, the slave arm and the bottom linkage rod of the wrist axes 206 of bottom
207 top is hinged, and the bottom end of the bottom linkage rod 207 and the wrist are hinged by the 4th articulated shaft 204；Described first,
Plane determined by the axis of plane determined by the axis of three articulated shafts and second, four articulated shafts is horizontal plane, the translation
The axis of connecting rod, top links 205 and bottom linkage rod 207 is parallel with the axis of the swing arm；
As shown in figure 8, the magnet driving mechanism 702 is electromagnet telescoping drive mechanism 702, the electromagnet connecting shaft
701 are sequentially connected with the electromagnet by wrist booster engine；Described 702 one end of electromagnet telescoping drive mechanism and the wrist
Hingedly, the other end of the electromagnet telescoping drive mechanism 702 and swing rod are hinged, and the swing rod and electromagnet connecting shaft 701 are anti-
Turn connection；The driven gear that the wrist booster engine includes the driving gear being arranged in connecting shaft 701, is arranged on electromagnet
And at least one transmission gear for driving gear to be transferred to driven gear；The biography of the driven gear and driving gear
Dynamic ratio is 3, and electromagnet needs to overturn 180 °, and electromagnet telescoping drive mechanism 702 drives swing rod to rotate 60 °.
As shown in figs. 9-11, the positioning device is mobile ranging localization mechanism；The mobile ranging localization mechanism includes
With the hinged range measurement mechanism of swing arm or crossbeam bottom, the level-ling mechanism for keeping the measuring mechanism level and right
Answer the positioning plate of the range measurement mechanism kinematic range setting；The height of the positioning plate 215 is not less than the swing arm bottom end
The difference of the height of the highest point and the lowest point of movement；When the swing arm bottom end moves to highest point, the range measurement mechanism
The top of the correspondence positioning plate 215, when the swing arm bottom end moves to minimum point, described in the range measurement mechanism correspondence
The lower part of positioning plate 215；Positioning device further includes motion control mechanism, and the motion control mechanism includes being arranged in the swing arm
The upper trigger mechanism in the range of rear 1/2 that moves upwards, be arranged in the swing arm moves downward rear 1/2 in the range of under
Trigger mechanism and the controller communicated with the upper trigger mechanism and the lower trigger mechanism；The controller and the movement
The communication of ranging localization mechanism, the controller control the driving device and the compensation device；The upper trigger mechanism and institute
Stating lower trigger mechanism is close to switch.The range measurement mechanism includes that shading protecting box 213 and setting are protected in the shading
Laser ranging mechanism 214 in box 213；
As shown in figure 12, profile clamping mechanism is provided on the electromagnet, the profile clamping mechanism is that sliding fixes
Mechanism；The sliding clamping mechanism includes the tooth plate 608 being slidably connected with the electromagnet and for driving the tooth plate 608
The tooth plate driving mechanism 607 of sliding is provided with the compatible fixing notch of profile along profile orientation on the tooth plate 608.
Embodiment three
As shown in figure 14, driving device is changed to telescoping mechanism 304 by the present embodiment on the basis of embodiment 1, described
Swing arm is connect with 201 anti-rotation of the first articulated shaft, and the both ends of the telescoping mechanism 304 are cut with scissors with the swing arm and rack respectively
It connects.
In the present embodiment, swing arm is connect with 201 anti-rotation of the first articulated shaft, is then driven by telescoping mechanism 304
One of them or several swing arms 2 are moved, and are connect at this time due to swing arm 2 with 201 anti-rotation of the first articulated shaft, pendulum
Arm 2 can also move.The present embodiment will directly drive swing arm 2 using telescoping mechanism 304 and move, and without transmission, can reduce
Energy consumption in transmission process improves energy conversion efficiency.
When the length of swing arm 2 is shorter, wrist single connecting rod attitude regulation mechanism, the wrist single connecting rod appearance can also be used
State adjustment mechanism includes one and connects with swing arm transition link 209 disposed in parallel, with first articulated shaft 201 rotation
Rocking bar and the driving transition link 209 or the rocking bar 229 gesture drive mechanism 208, the transition link 209
Upper end and the rocking bar 229 are hinged by third articulated shaft 203, and the lower end of the transition link 209 and the wrist 7 pass through the
Four articulated shafts 204 are hinged, put down determined by plane determined by the axis of first and third articulated shaft and second, four articulated shafts
Face is parallel；The wrist 7 is connect with 202 anti-rotation of the second articulated shaft.
Above structure uses a parallel four-bar linkage, since wrist 7 is connect with 202 anti-rotation of the second articulated shaft,
Therefore, the pose adjustment of a wrist 7 can also be completed.Also, transmission link is few, can reduce the accumulation of machine error, also can
Enough reduce the energy consumption in transmission process.
Likewise, wrist level holding mechanism can also keep machine using wrist single connecting rod level when swing arm 2 is shorter
Structure, it is described to include one and swing arm transition link disposed in parallel, the translation for wrist single connecting rod level-ling mechanism
The upper end of connecting rod and the rack are hinged by third articulated shaft, the lower end of the transition link by the 4th articulated shaft with it is described
Wrist is hinged, and plane determined by the axis of first and third articulated shaft is with plane determined by described second, four articulated shafts
Horizontal plane；The wrist is connect with the second articulated shaft anti-rotation.
Above structure uses a parallel four-bar linkage, since wrist is connect with the second articulated shaft anti-rotation,
A wrist is able to maintain level.Similarly, since transmission link is few, the accumulation of machine error can be reduced, can also reduce biography
Energy consumption during dynamic.
On the basis of the above embodiments, the mobile ranging localization mechanism can also be replaced with fixed ranging localization machine
Structure, as shown in figure 13, the fixed ranging localization mechanism includes the positioning plate 215 hinged with swing arm or crossbeam bottom, for protecting
Hold the range measurement mechanism that the vertical vertical holding mechanism of the positioning plate 215 and the corresponding positioning plate 215 are arranged；It is described
Range measurement mechanism includes shading protecting box 213 and the laser ranging mechanism 214 that is arranged in shading protecting box 213, described fixed
Difference of the height of position plate 215 not less than the highest point and the lowest point height of swing arm bottom end movement；When the swing arm bottom end is transported
When moving to highest point, the range measurement mechanism corresponds to the lower part of the positioning plate 215, when the swing arm bottom end move to it is minimum
When point, the range measurement mechanism corresponds to the top of the positioning plate 215.Above structure also can by measurement swing arm lower end with
The distance of a certain fixed point is accurately positioned the position of swing arm.
On the basis of the above embodiments, also there are two types of feasible structures for the clamping mechanism of electromagnet: overturning clamping mechanism
Or lifting clamping structure.
The overturning clamping mechanism includes the tooth plate hinged with the electromagnet and for driving the tooth plate to overturn
Tooth plate driving mechanism is provided with fixing notch compatible with profile along profile orientation on the tooth plate；When needing tooth plate
When being fixed, tooth plate driving mechanism drives the tooth plate to downwardly turn over, and the fixing notch of tooth plate is arranged under electromagnet
At this moment side can fix profile, when not needing to fix profile, tooth plate driving mechanism driving tooth plate is flipped up, and turn over
The top of electromagnet lower edge is gone to, in this way, not influencing absorption of the electromagnet to fashioned iron.
The lifting clamping mechanism includes the tooth plate being slidably connected with the side of the electromagnet and the driving electromagnetism
The tooth plate driving mechanism of iron lifting；It is provided with profile along profile orientation to the fixing notch being adapted on the tooth plate.When
When tooth plate being needed to fix profile, tooth plate driving device drives the tooth plate to decline, and the fixing notch of tooth plate is made to leak out electromagnet
Lower edge, when not needing tooth plate and fixing profile, tooth plate driving mechanism drives the tooth plate to ramp up, and lacks the fixing of tooth plate
Mouth is raised to the top of electromagnet lower edge, does not influence absorption of the electromagnet to profile thus.
On the basis of the above embodiments, wrist can also be fixedly connected on crossbeam, and angled inspection is arranged on electromagnet
Mechanism is surveyed, in this way, detecting the current angle of electromagnet by angle detection mechanism, also, is driven by electromagnet drive mechanism
Electromagnet turnover also can make electromagnet reach scheduled angle.
More than, only presently preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with sheet
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those skilled in the art, should all cover
Within protection scope of the present invention.Therefore, the scope of protection of the present invention shall be subject to the scope of protection defined by the claims.
Claims (1)
1. a kind of high speed piling system, it is characterised in that: including Palletizer, the lifting device for going up and down profile；
The Palletizer includes " ┤ " shape rack, overturning electromagnet, tooth plate, wrist, driving device, pre-tightening apparatus；The machine
Frame includes vertical section and horizontal segment, and the rear end of the horizontal segment is connect with the middle part of the vertical section；Before the rack level section
End is hinged with swing arm by the first articulated shaft；The lower end of the swing arm is hinged with wrist by the second articulated shaft；On the wrist
It is provided with overturning electromagnet, is hinged with tooth plate on the overturning electromagnet；The driving device is arranged above rack level section,
Drive the swing arm motion；The lower section of rack level section is arranged in the pre-tightening apparatus；
The lifting device includes hoistable platform, position block, and the position block is arranged on hoistable platform;
The wrist is connect with multi link attitude-adjusting system, and the multi link attitude-adjusting system includes a wrist connection
Axis, a top links and bottom linkage rod corresponding with the wrist connect rocking bar and use with first articulated shaft rotation
In the gesture drive mechanism for adjusting the wrist posture；Master arm and slave arm, the wrist are provided in the wrist connecting shaft
The slave arm of the master arm of the portion's connecting shaft wrist connecting shaft adjacent with top is hinged with transition link respectively, the connection of the top
The master arm of axis and the bottom end of top links are hinged, and the top of the top links and rocking bar are hinged by third articulated shaft, most
The top of the slave arm and the bottom linkage rod of the wrist connecting shaft of lower section is hinged, the bottom end of the bottom linkage rod with it is described
Wrist is hinged by the 4th articulated shaft；The axis of plane determined by the axis of first and third articulated shaft and second, four articulated shafts
Plane determined by line is parallel, and the axis of the axis of the transition link, top links and bottom linkage rod and the swing arm is flat
Row；The gesture drive mechanism drives the top links or rocking bar movement；The position block is alternating block, described
Alternately block includes the block of the forward and backward block being arranged successively along the profile direction of motion and the driving forward and backward block lifting
Elevating mechanism, the side that described two blocks meet the direction moved to profile are provided with limit trigger mechanism；
The pre-tightening apparatus includes both ends respectively with the rack and the hinged elastic mechanism of the swing arm and for adjusting
State the flexible adjustment mechanism of the elastic force of elastic mechanism；
The elastic mechanism includes cylinder and the gas bag that is connected to the cylinder, and the flexible adjustment mechanism includes gas source, is used for
The air gauge for being connected to the gas source processing element of gas source and gas bag and being arranged on the gas bag；
Alternatively, the elastic mechanism includes spring, the flexible adjustment mechanism includes for adjustment spring and rack link position
Position adjusting mechanism；
Be provided with angular transducer positioning mechanism in the swing arm, the angular transducer positioning mechanism include by booster engine with
The angular transducer of first hinged axis connection, first articulated shaft are connect with the low speed end of the booster engine, and the angle passes
Sensor is connect with the speed end of the booster engine, and the swing arm is connect with the first articulated shaft anti-rotation, the swing arm motion
The product of the speed increasing ratio of angular range and booster engine is not more than the range of the angular transducer；
Stroke compensating mechanism is provided in rack, the stroke compensating mechanism includes the stroke compensation mount hinged with the rack
And driving mechanism is compensated far from the hinged stroke in the rack side with the stroke compensation mount；The driving device and institute
It states hinged in the middle part of stroke compensation mount；The kinematic accuracy of the stroke compensation driving mechanism is higher than the driving device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610799022.8A CN106144635B (en) | 2016-08-31 | 2016-08-31 | High speed piling system |
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| CN201610799022.8A CN106144635B (en) | 2016-08-31 | 2016-08-31 | High speed piling system |
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| CN106144635B true CN106144635B (en) | 2019-08-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2328696C3 (en) * | 1973-06-06 | 1979-12-13 | Chloemann-Siemag Ag, 4000 Duesseldorf | Device for stacking rod-shaped goods, in particular rolled sections |
| DE69212349T2 (en) * | 1991-03-06 | 1997-02-27 | Simac Spa | Method and device for packing hanging bars during transfer, in particular for a simplified working cycle in rolling mills |
| JP3929125B2 (en) * | 1997-08-26 | 2007-06-13 | ジオスター株式会社 | Concrete product lifting and falling device |
| CN201565961U (en) * | 2009-11-03 | 2010-09-01 | 北京建筑工程学院 | Short filamentous material packaging manipulator material hand driving pneumatic circuit and packaging machine |
| CN201808940U (en) * | 2010-09-09 | 2011-04-27 | 江阴市锦明玻璃技术有限公司 | Four-axis glass stacker |
| CN202089595U (en) * | 2011-06-02 | 2011-12-28 | 济南奥图自动化工程有限公司 | Novel magnetic separating and arranging device for unstacker |
| CN202784870U (en) * | 2012-09-13 | 2013-03-13 | 厦门正黎明冶金机械有限公司 | Z-shaped steel stacking apparatus |
| CN103132551B (en) * | 2013-02-08 | 2015-01-07 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN203486498U (en) * | 2013-08-23 | 2014-03-19 | 安阳钢铁股份有限公司 | Profile rotation type automatic palletizing device |
| CN104162886B (en) * | 2014-08-01 | 2016-04-27 | 大连四达高技术发展有限公司 | Three axle automatic transporting machine people |
| CN205346353U (en) * | 2016-01-26 | 2016-06-29 | 武汉智孚机器人工程有限公司 | Automatically, snatch and pile up neatly system suitable for work piece made of iron |
| CN106006049A (en) * | 2016-08-08 | 2016-10-12 | 华中科技大学无锡研究院 | Automatic steel pipe stacking device based on magnetic attraction |
| CN206156377U (en) * | 2016-08-31 | 2017-05-10 | 中冶华天工程技术有限公司 | High -speed palletizing system |
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