CN106185352B - Building-block, brick intelligent stacking device method of work - Google Patents

Building-block, brick intelligent stacking device method of work Download PDF

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Publication number
CN106185352B
CN106185352B CN201610829369.2A CN201610829369A CN106185352B CN 106185352 B CN106185352 B CN 106185352B CN 201610829369 A CN201610829369 A CN 201610829369A CN 106185352 B CN106185352 B CN 106185352B
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buffer
cylinder
piston
piston body
medium
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CN106185352A (en
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不公告发明人
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Lan Xin Environmental Protection Technology Co., Ltd of Ma'an Mountain
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Lan Xin Environmental Protection Technology Co Ltd Of Ma'an Mountain
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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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
    • F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/02—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum
    • F16F9/0209—Telescopic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
    • F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
    • F16F9/22—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with one or more cylinders each having a single working space closed by a piston or plunger
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3207—Constructional features
    • F16F9/3214—Constructional features of pistons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3207—Constructional features
    • F16F9/3235—Constructional features of cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3207—Constructional features
    • F16F9/3235—Constructional features of cylinders
    • F16F9/3242—Constructional features of cylinders of cylinder ends, e.g. caps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3292—Sensor arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/34—Special valve constructions; Shape or construction of throttling passages
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/34—Special valve constructions; Shape or construction of throttling passages
    • F16F9/3405—Throttling passages in or on piston body, e.g. slots
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
    • F16F9/5123—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity responsive to the static or steady-state load on the damper
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • F16F9/52—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics in case of change of temperature
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Actuator (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

The present invention relates to the method for work of a kind of building-block, the intelligent stacking device of brick, the intelligent stacking device, including：Automatic feed machine, locator, for carrying out the robot of palletizing operation to steaming maintaining vehicle, locator includes：Support arm, for propping up or putting down the cylinder of support arm；Locator is fixed on a upper end of slide block face, which is slidably matched with a guide rail, and the left end of guide rail is equipped with buffer unit, the sliding block impact force which generates when hitting locator by steaming maintaining vehicle for buffering；The method of work of the intelligent stacking device, including：Buffer unit is in the support arm that steaming maintaining vehicle shock is propped up, buffer sliding block impact force, to alleviate the pressure as caused by being hit steaming maintaining vehicle that cylinder is subject to.The present invention is by the way that when buffer unit makes steaming maintaining vehicle hit the support arm propped up, the impact force for the steaming maintaining vehicle that bounce cylinder is subject to can effectively alleviate the impact force that cylinder is subject to, effectively extend the service life of cylinder.

Description

Building-block, brick intelligent stacking device method of work
The application is divisional application, the application number of original application：201310322517.8 the applying date：2013-7-29, invention Create title：Building-block, brick intelligent stacking device method of work.
Technical field
The present invention relates to a kind of method of work of intelligent stacking device more particularly to a kind of building-block, the smart codes of brick The method of work of pile device.
Background technology
The palletizing operation of adobe is arrived involved in building-block, brick hydroforming process, such as：Such as：Chinese patent literature CN101574833B discloses that a kind of Full Automatic Liquid of brick is molded and intelligent stacking device, also discloses a kind of intelligent stacking dress It puts, including：Robot palletizer, automatic feeding machine, locator, steaming maintaining vehicle realize the palletizing operation of adobe.
But the program there are it is certain the defects of, since the invention improves production efficiency, locator must frequently, continue Work, the cylinder in locator due to the impact force frequently brought by steaming maintaining vehicle, and due to cylinder be not it is horizontal positioned, When propping up support arm, there are certain angle, therefore during by impact force, buffering effect is poor, and is easy to damage, cause support arm with The direct matching loose of cylinder, makes steaming maintaining vehicle that can not be accurately positioned, and causes robot palletizer that the position of steaming maintaining vehicle can not be accurately positioned, That is, stacking work can not be completed.
Invention content
The technical problem to be solved in the present invention is to provide a kind of method of work of the intelligent stacking device for adobe stacking, The method of work of the intelligent stacking device is solved in the transmission process of its adobe, and locator is easy due to long-term impact force The technical issues of damage.
The present invention provides a kind of method of work of the intelligent stacking device for adobe stacking, wherein, the smart code Pile device, including：Steaming maintaining vehicle is sent to the automatic feed machine in stacking area for hanging, for being limited the steaming maintaining vehicle to stacking The locator in area, for carrying out the robot of palletizing operation to the steaming maintaining vehicle, the locator includes：Support arm, one end connection Cylinder on the support arm left side；The other end of the cylinder and the bottom of support arm are connected to the left and right two of a sliding block End, which is slidably matched with a guide rail, and the left end of the guide rail is equipped with buffer unit, the buffer unit for buffering by The steaming maintaining vehicle hits the impact force generated during support arm right side, and the right side of the buffer unit is fitted with the sliding block left side It is in close contact in holding.
Further, the buffer unit is hydraulic pressure or pneumatic cushion.
The hydraulic draft gear is two-stage buffer, and the two-stage buffer includes：Chopped-off head buffer, final stage buffering Device；The chopped-off head buffer, final stage buffer respectively include：It is cylinder, and the cylinder body for filling buffer medium, in the cylinder The openend sealing of body is equipped with cylinder cap, and air-tight movable is combined with a piston rod in the central through hole of the cylinder cap, the piston rod Right end is equipped with for adjusting medium toward the piston body component of regurgitation volume, which is suitable for doing piston fortune in the cylinder body It is dynamic, and coordinate with the inner wall movable sealing of the cylinder body；Wherein, the cylinder body of the chopped-off head buffer forms the final stage buffer Piston rod；When buffering work, the cylinder body right side of the final stage buffer is as the contact surface to collide with sliding block；It is described Electromagnetic coil is arranged in the side wall of the cylinder body of final stage buffer；It is set on the right side of the piston body component of the final stage buffer The pressure sensor of detection pressure medium is useful for, which is connected with a processor module；When the sliding block is hit During the right side of the cylinder body, the processor module is suitable for according to pressure medium value, the output of one electric current drive module of control with The electric current that the pressure medium value matches makes the electromagnetic coil generate corresponding magnetic field, to be attracted the sliding block；It is until described When processor module measures pressure medium value as equilibrium value, the electric current drive module is controlled to close output current, makes the magnetic Field disappears, to discharge the sliding block；Wherein, the piston body component of buffers at different levels is suitable for when doing piston motion, the processing The pressure medium that device is detected according to the pressure sensor controls the piston body component to adjust or close in corresponding cylinder body Medium is toward regurgitation volume, to adjust the piston body component movement rate or buffering series.
Further, in order to avoid medium temperature is excessively high, the buffer service life is impacted, the chopped-off head buffer, final stage The temperature sensor for being adapted to detect for medium temperature, the temperature sensing are respectively equipped on the right side of the piston body component of buffer Device is connected respectively with the processor module；The processor module is suitable for the ceiling temperature of media operation of prestoring；When at different levels slow The piston body component for rushing device is suitable for when doing piston motion, Jie that the processor module is detected according to the temperature sensor Matter temperature adjusts medium in corresponding cylinder body toward regurgitation volume, that is, the processor module is when on the medium temperature reaches described When limiting temperature, the piston body component is controlled to be decreased or turned off the medium toward regurgitation volume, with the speed of regulating piston movement or Close respective buffer.
Further, the piston body component includes：The left and right piston body of coaxial arrangement is symmetrically set on the left and right piston body There are several through-holes axially flowed for medium, the sealing cooperation between the adjacent face of left and right piston body, so as to do piston During movement, medium only realizes round-trip flowing by each through-hole on the left and right piston body；It is equipped with and is used in the left piston body The cavity of motor is placed, which is controlled by the processor module, and the end of rotor is fixedly connected on the right piston body On, for the right piston body being driven to rotate according to pressure medium, the relative position of each through-hole on left and right piston body to be controlled to close System, and then control rate-of flow, that is, control piston movement speed.
Compared with prior art, the invention has the advantages that：（1）The present invention in buffer unit by making the steaming maintaining vehicle When hitting the support arm propped up, the impact force for the steaming maintaining vehicle that the cylinder is subject to is buffered, can effectively alleviate the impact that cylinder is subject to Power effectively extends the service life of cylinder；（2）The present invention is generated and surge phase by processor, electric current drive module The magnetic field matched makes to fit closely between sliding block and buffer to be attracted sliding block；（3）The present invention overcomes due to impact energy wave It is dynamic, and cause buffer can not co-ordination the technical issues of, the present invention detects impact energy by pressure sensor, and The medium of appropriate adjusting buffers at different levels, to control the movement velocity of each piston body component, makes buffers at different levels toward regurgitation volume Co-ordination avoids certain the level-one buffer being likely to occur because impact energy is excessive, remaining buffer has little time to compress, and It causes this grade of buffer long-term work in a high voltage state, be easy to cause damage；（4）Pass through each through-hole in left and right piston body Cooperation, to control the medium in corresponding cylinder body toward regurgitation volume, so as to change the shuttle speed of respective pistons, to alleviate cylinder bodies at different levels Cavity pressure, extend the buffer service life；（5）The two-stage buffer need not consider medium difference, and application place is extensive, without another Transferring section buffer job order.
Description of the drawings
In order to make the content of the present invention more clearly understood, below according to specific embodiment and with reference to attached drawing, The present invention is described in further detail, wherein
The structure diagram of locator in the intelligent stacking device of Fig. 1 present invention；
The structure diagram one of the two-stage buffer of Fig. 2 present invention；
The structure diagram two of the two-stage buffer of Fig. 3 present invention；
The structure diagram of piston body component in the two-stage buffer of Fig. 4 present invention；
The operating diagram of the piston body component of Fig. 5 present invention；
The controling circuit structure block diagram of Fig. 6 present invention.
Wherein, 1-1 buffer units, 1-2 steaming maintaining vehicles, 1-3 automatic feed machine, 1-4 locators, 1-5 support arms, 1-6 cylinders, 1- 7 sliding blocks, 1-8 guide rails, 1 chopped-off head buffer, 2 final stage buffers, 4 cylinder bodies, 4-1 electromagnetic coils, 5 cylinder caps, 6 piston rods, 6-1 ends Piston rod, 7 piston body components, 8 outer barrels, 9 pressure sensors, 7-1 left pistons body, 7-2 right pistons body, the 7-3 of grade buffer lead to Hole, 7-4 motors, 7-5 rotors.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and embodiments：
See Fig. 1, a kind of method of work of intelligent stacking device for adobe stacking, wherein, the intelligent stacking device, Including：Steaming maintaining vehicle 1-2 to the automatic feed machine 1-3 in stacking area is sent for hanging, for being limited the steaming maintaining vehicle 1-2 to code The locator 1-4 in pile area, for carrying out the robot of palletizing operation to the steaming maintaining vehicle 1-2（It is not drawn into Fig. 1）, the positioning Device includes：Support arm 1-5, one end are connected to the cylinder 1-6 on support arm 1-5 left sides, and cylinder 1-6 is used to prop up or put down Support arm；The locator 1-4 is fixed on a sliding block 1-7, i.e., the other end of described cylinder 1-6 and the bottom difference of support arm 1-5 It is connected to the left and right ends of sliding block 1-7；Sliding block 1-7 is slidably matched with a guide rail 1-8, the left end of the guide rail 1-8 Equipped with buffer unit 1-1, buffer unit 1-1 hits locator 1-4 for buffering by the steaming maintaining vehicle 1-2, i.e. support arm 1-5 is right The sliding block impact force generated during side, and the right side of buffer unit 1-1 is suitable for keeping closely connecing with the sliding block left side It touches；The method of work of the intelligent stacking device, including：The branch that the buffer unit 1-1 is propped up in steaming maintaining vehicle 1-2 shocks During arm 1-5, the sliding block impact force is buffered, to alleviate the pressure caused by steaming maintaining vehicle 1-2 shocks that the cylinder 1-6 is subject to Power.
It will be noted from fig. 1 that sliding block 1-7 length long enoughs, upper surface fixed locator, the left side of sliding block 1-7 with Buffering cooperation occurs for the right side of buffer unit 1-1.
Wherein, the robot for carrying out palletizing operation, steaming maintaining vehicle 1-2, automatic feed machine 1-3, the support arm 1-5, are used It may refer to the explanation in Chinese patent literature CN101574833B in dependency structures such as the cylinder 1-6 for propping up or putting down support arm Book and its attached drawing 1,2 and 8.
Since those skilled in the art generally believe that cylinder has certain buffering effect, but have ignored due to suffered The impact force of steaming maintaining vehicle 1-2 be not same direction for cylinder, according to mechanical analysis, after decomposition, Ke Yifa Existing, cylinder will bear just withstand support arm 1-5 than the power of steaming maintaining vehicle 1-2 impact force biggers, due to the efficiency of intelligent stacking device Very high, the live load of support arm 1-5 is very big, so being easy to damage, therefore can effectively be alleviated by the present invention steam-cured The impact force of vehicle 1-2 improves the service life of cylinder.
The buffer unit 1-1 is hydraulic pressure or pneumatic cushion buffer.
See Fig. 2, Fig. 3 and Fig. 6, the hydraulic draft gear is two-stage buffer, which includes：Chopped-off head buffers Device 1, final stage buffer 2；The chopped-off head buffer 1, final stage buffer 2 respectively include：It is cylinder, and be situated between for filling buffering The cylinder body 4 of matter, in the openend of the cylinder body 4, sealing is equipped with cylinder cap 5, and air-tight movable is combined in the central through hole of the cylinder cap 5 One piston rod 6, the right end of the piston rod 6 are equipped with to adjust medium toward the piston body component 7 of regurgitation volume, the piston body component 7 Suitable for doing piston motion in the cylinder body 4, and coordinate with the inner wall movable sealing of the cylinder body 4；Wherein, the chopped-off head buffering The cylinder body 4 of device 1 forms the piston rod 6-1 of the final stage buffer 2；When buffering work, the cylinder body 4 of the final stage buffer 2 Right side is as the contact surface to collide with sliding block 1-7；Electromagnetic wire is arranged in the side wall of the cylinder body 4 of the final stage buffer 2 Enclose 4-1；The right side of the piston body component 7 of the final stage buffer 2 is equipped with the pressure sensor for detecting pressure medium 9, which is connected with a processor module；When the sliding block 1-7 hits the right side of the cylinder body, the processing Device module is suitable for the electric current to match according to pressure medium value, control one electric current drive module output with the pressure medium value, makes The electromagnetic coil 4-1 generates corresponding magnetic field, to be attracted the sliding block 1-7；Until the processor module measures medium pressure When force value is equilibrium value, the electric current drive module is controlled to close output current, the magnetic field is made to disappear, to discharge the sliding block 1-7；Wherein, the piston body component 7 of buffers at different levels is suitable for when doing piston motion, and the processor is according to the pressure sensing The pressure medium that device 9 detects controls the piston body component to adjust or close the medium in corresponding cylinder body 4 toward regurgitation volume, with Adjust the speed of the piston body component 7 movement or buffering series.(in order to clearly represent the structure of buffer, in Fig. 2 and Fig. 3 Sliding block by the way of simplified.)
The right end face of outer barrel 8 is fixed in 6 bottom of piston rod of the chopped-off head buffer 1.Outer barrel 8 is fixed on guide rail 1- On 8,4 right side of cylinder body and the sliding block 1-7 of the final stage buffer 2 are oppositely arranged.
When the sliding block 1-7 hits the right side of the cylinder body 4, the cylinder body 4 is moved to the left, 7 phase of piston body component It moves right for the cylinder body 4, right side buffer medium is by larger pressure in cylinder body 4, when buffer medium is toward piston body component 7 When left side is flowed, the pressure that right side buffer medium is subject in cylinder body 4 is gradually reduced, until the left and right two of the piston body component 7 Side pressure medium is equal, i.e., described pressure medium value is equilibrium value（That is when the hydraulic pressure value of the left and right sides of piston body component 4 is equal Pressure value）When, when piston body component 7 is stopped, sliding block 1-7 also stops moving.Especially with pressure sensor essence When really detection sliding block 1-7 is hit during the right side of cylinder body 4, the impact force of sliding block 1-7, without each cylinder body according to two-stage buffer Interior Media density difference come control two-stage buffer sequence, and can more reasonably be adjusted according to pressure value buffering section It plays, extends the service life of buffer.
Wherein, the processor module is using microcontroller, embedded-type ARM module；Pressure sensor 9, such as may be used The gloomy P499VBS-404C in river；Alternating current output unit may be used in the electric current drive module, and sliding block 1-7 is slided using irony Block.
The chopped-off head buffer 1, final stage buffer 2 piston body component right side on be respectively equipped with and be adapted to detect for medium The temperature sensor of temperature, the temperature sensor are connected respectively with the processor module；The processor module is suitable for pre- Deposit the ceiling temperature of media operation；When buffers at different levels piston body component be suitable for when doing piston motion, the processor die The medium temperature that root tuber is detected according to the temperature sensor adjusts medium in corresponding cylinder body toward regurgitation volume, that is, the processing Device module controls the piston body component 7 to be decreased or turned off the medium when the medium temperature reaches the ceiling temperature Toward regurgitation volume, with the speed of regulating piston movement or respective buffer is closed.（In figure, temperature sensor is not drawn into）
See Fig. 4-5, the piston body component 7 includes：Left piston body 7-1, the right piston body 7-2 of coaxial arrangement, the left work Several are arranged on cock body 7-1, right piston body 7-2 for the through-hole 7-3 that medium axially flows, the left and right piston body Adjacent face between sealing cooperation, during so as to do piston motion, medium only passes through each through-hole on the left and right piston body 7-3 realizes round-trip flowing；The cavity for placing motor 7-4 is equipped in the left piston body 7-1, motor 7-4 is by described The control of device module is managed, rotor 7-5 is connected to the right piston body 7-2, for driving right piston body 7-2 according to pressure medium Rotation to control the relative position relation of each through-hole 7-3 on left and right piston body, and then controls rate-of flow, that is, controls piston Movement velocity.
Dotted line through-hole 7-3 expressions are the through-hole 7-3 in left piston body 7-1 in Fig. 5, and solid line through-hole 7-3 represents right piston body Through-hole 7-3 in 7-2, arrow represent motor 7-4 rotation directions, which represents the phase in the mating surface of left and right piston body 7-2 Through-hole 7-3 docking operations are answered, to control the rate-of flow in through-hole.
The right piston body 7-2 is coaxially deflected relative to right piston body 7-2, and slewing area is straight no more than through-hole 7-3's Diameter, is referred to as deflection angle, i.e. motor 7-4 drives right piston body 7-2 to make past in the diameter range according to pressure medium Wraparound moves, to achieve the purpose that control rate-of flow, so as to play the piston movement speed of control respective pistons body component 7, into And alleviate pressure medium in cylinder body 4, the purpose for extending the buffer service life is played, and each buffer can take turns to operate, not Under the premise of shutdown, the buffer for making temperature higher is cooled down, and extends service life.
Battery powered may be used in power pack.Battery can be installed in left or right piston body 7-2.
See Fig. 5, if the through-hole 7-3 there are several, distribution can be distributed with left and right piston body 7-2 in concentric circles, certainly Through-hole can also a variety of shapes, such as：Section is in the through-hole of kidney-shaped, the through-hole of ellipsoidal cross section etc.；Signal data line can To be placed in 4 wall of cylinder body of buffers at different levels or be placed directly in medium.
Obviously, the above embodiment is merely an example for clearly illustrating the present invention, and is not to the present invention The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description Its various forms of variation or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this hair The obvious changes or variations that bright spirit is extended out are still in the protection scope of this invention.

Claims (1)

1. a kind of method of work of intelligent stacking device for adobe stacking, which is characterized in that
The intelligent stacking device includes：Steaming maintaining vehicle is sent to the automatic feed machine in stacking area for hanging, for the steaming maintaining vehicle It is limited to the locator in stacking area, for carrying out the robot of palletizing operation to the steaming maintaining vehicle, the locator includes： Support arm, one end are connected to the cylinder on the support arm left side；The other end of the cylinder and the bottom of support arm are connected to one The left and right ends of sliding block, the sliding block are slidably matched with a guide rail, and the left end of the guide rail is equipped with buffer unit, buffering dress Put the impact force that generates when hitting support arm right side by the steaming maintaining vehicle for buffering, and the right side of the buffer unit with it is described Sliding block left side is suitable for keeping being in close contact；
The method of work of the intelligent stacking device, including：The buffer unit the steaming maintaining vehicle shock prop up support arm when, The sliding block impact force is buffered, to alleviate the pressure as caused by being hit the steaming maintaining vehicle that the cylinder is subject to；
The buffer unit is hydraulic draft gear；The hydraulic draft gear is two-stage buffer, which includes： Chopped-off head buffer, final stage buffer；
The chopped-off head buffer, final stage buffer respectively include：For filling the cylinder body of buffer medium, in the openend of the cylinder body Sealing is equipped with cylinder cap, and air-tight movable is combined with a piston rod in the central through hole of the cylinder cap, and the right end of the piston rod, which is equipped with, to be used In adjusting piston body component of the medium toward regurgitation volume, which is suitable for doing piston motion in the cylinder body, and with institute State the inner wall movable sealing cooperation of cylinder body；
Wherein, the cylinder body of the chopped-off head buffer forms the piston rod of the final stage buffer；
When buffering work, the cylinder body right side of the final stage buffer is as the contact surface to collide with sliding block；The final stage Electromagnetic coil is arranged in the side wall of the cylinder body of buffer；
The right side of the piston body component of the final stage buffer is equipped with the pressure sensor for detecting pressure medium, the pressure Force snesor is connected with a processor module；
When the sliding block hits the right side of the cylinder body, the processor module is suitable for according to pressure medium value, control one Electric current drive module exports the electric current to match with the pressure medium value, and the electromagnetic coil is made to generate corresponding magnetic field, to inhale Close the sliding block；Until when the processor module measures pressure medium value as equilibrium value, the electric current drive module is controlled to close Output current is closed, the magnetic field is made to disappear, to discharge the sliding block；
Wherein, the piston body component of buffers at different levels is suitable for when doing piston motion, and the processor is according to the pressure sensing The pressure medium that device detects controls the piston body component to adjust or close the medium in corresponding cylinder body toward regurgitation volume, to adjust Save the piston body component movement rate or buffering series；
The chopped-off head buffer, final stage buffer piston body component right side on be respectively equipped with and be adapted to detect for medium temperature Temperature sensor, the temperature sensor are connected respectively with the processor module；
The processor module is suitable for the ceiling temperature of media operation of prestoring；
When the piston body component of buffers at different levels is suitable for when doing piston motion, the processor module is according to the temperature sensing The medium temperature that device detects adjusts medium in corresponding cylinder body toward regurgitation volume, that is, the processor module works as the medium temperature When degree reaches the ceiling temperature, the piston body component is controlled to be decreased or turned off the medium toward regurgitation volume, with regulating piston The speed of movement closes respective buffer；
The piston body component includes：The left and right piston body of coaxial arrangement is arranged with several use on the left and right piston body Sealing cooperation between the through-hole that medium axially flows, the adjacent face of left and right piston body, during so as to do piston motion, is situated between Matter only realizes round-trip flowing by each through-hole on the left and right piston body；
The cavity for placing motor is equipped in the left piston body, which is controlled by the processor module, rotor End is fixedly connected on the right piston body, for the right piston body being driven to rotate according to pressure medium, to control left and right work The relative position relation of each through-hole on cock body, and then control rate-of flow, that is, control piston movement speed.
CN201610829369.2A 2013-07-29 2013-07-29 Building-block, brick intelligent stacking device method of work Active CN106185352B (en)

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CN201610829440.7A Pending CN106315239A (en) 2013-07-29 2013-07-29 Hollow block and work method of intelligent stacking device of bricks
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CN103410907B (en) 2016-09-14
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