CN106185592B - Overturn electromagnet electromagnetism Force control system - Google Patents
Overturn electromagnet electromagnetism Force control system Download PDFInfo
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- CN106185592B CN106185592B CN201610799326.4A CN201610799326A CN106185592B CN 106185592 B CN106185592 B CN 106185592B CN 201610799326 A CN201610799326 A CN 201610799326A CN 106185592 B CN106185592 B CN 106185592B
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- 210000000707 wrist Anatomy 0.000 claims abstract description 52
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- 230000007246 mechanism Effects 0.000 claims description 185
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- 239000012530 fluid Substances 0.000 claims description 6
- 230000005284 excitation Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 abstract description 7
- 238000010438 heat treatment Methods 0.000 abstract description 5
- 239000000725 suspension Substances 0.000 description 78
- 229910000831 Steel Inorganic materials 0.000 description 39
- 239000010959 steel Substances 0.000 description 39
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
- B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/68—Jibs foldable or otherwise adjustable in configuration
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Abstract
The present invention disclose a kind of upset electromagnet electromagnetism Force control system, including wrist, be rotatably connected with the wrist pass-through mode upset electromagnet, be arranged on and described overturn Magnetic Control system in electromagnet rotary shaft；The wrist includes connecting plate, and is connected to two side plates being oppositely arranged on connecting plate；The upset electromagnet is arranged between two side plates；The driver of driving upset electromagnet turnover is set on the wrist；The Magnetic Control system includes angular transducer, signal adapter and control device, the angular transducer, signal adapter and control device communication connection；Present invention reduces the heating of electromagnet, reduces the hardware cost of control system, while improves the stability that system works in the presence of a harsh environment.
Description
Technical Field
The invention relates to an electromagnetic force control system of a turnover electromagnet.
Background
The overturning electromagnet can attract articles made of steel and the like through electromagnetic force, so that the articles can be grabbed and overturned. The magnetic field range of the turning electromagnet is usually concentrated on a grabbing plane, and in order to keep the balance of an object, the magnetic force of the electromagnet is needed to ensure that the grabbing plane can keep the stability of the grabbed object at any place. At different overturning angles, the magnetic force, the friction force and the gravity angle of an object on the overturning electromagnet are different, so the required electromagnetic force is different. When the included angle between the magnetic force and the gravity is an acute angle, the required electromagnetic force is small, and the magnitude of the required electromagnetic force tends to rise along with the increase of the included angle between the magnetic force and the gravity.
The design of the traditional overturning electromagnet can consider the normal working state according to the state of the required maximum magnetic force, the magnetic force is constant when the electromagnet works, and the magnetic force is not adjusted, so that the electromagnet is always kept in a high-load running state when the overturning electromagnet works. Because the electromagnet generates magnetic force by exciting the coil, the continuous work of high load can generate a large amount of heat, and the stable operation of the system and the service life of equipment are adversely affected.
The common electromagnet magnetic force control method is to judge the working state of the turning electromagnet through a position detection signal, so as to control the electromagnet magnetic force according to a certain strategy. The control method needs the control device to make corresponding magnetic force adjusting strategies for different position detection signals, so that the control device needs to have a certain operation function, and meanwhile, a signal input module for receiving the position signals needs to be matched with a signal output module facing an execution mechanism. The control method of the control system is complex, the hardware cost is high, and the control system is strict on the working environment.
Disclosure of Invention
In view of the above problems, the present invention provides a flipping electromagnetic force control system.
In order to achieve the purpose, the invention discloses an electromagnetic force control system of an overturning electromagnet, which comprises a wrist part, the overturning electromagnet rotationally connected with the wrist part in a mode, and a magnetic force control system arranged on a rotating shaft of the overturning electromagnet; the wrist part is provided with a driving device for driving the overturning electromagnet to overturn; the magnetic control system comprises a sensor for detecting the position of the electromagnet and a control device for controlling the magnetic force of the electromagnet; the control device outputs control information according to the received position information of the electromagnet detected by the sensor so as to adjust the magnetic force of the electromagnet.
Preferably, the method for the control device to output control information to adjust the magnitude of the magnetic force of the electromagnet according to the received position information of the electromagnet detected by the sensor includes: when the overturning electromagnet is detected to overturn to a first phase, the control device controls the magnetic force of the electromagnet to be positioned in a first interval; and when the overturning electromagnet is detected to overturn to other phases, the control device controls the magnetic force of the electromagnet to be positioned in a second interval.
Preferably, the wrist part comprises a connecting plate and two side plates which are connected to the connecting plate and are oppositely arranged; the overturning electromagnet is arranged between the two side plates.
Preferably, the sensor is an angle sensor, a hall sensor or a position sensor.
Preferably, the sensor is an angle sensor; the angle sensor is arranged at the rotating shaft end of the turning electromagnet, the control device is arranged on the excitation device of the turning electromagnet, and the angle sensor is in communication connection with the control device.
Preferably, the driving device comprises a speed-increasing turning device, and the speed-increasing turning device comprises a speed-increasing machine and a hydraulic cylinder; the speed increaser adopts a shaft-mounted structure of gear transmission, an input shaft of the speed increaser is fixedly connected with a swing rod, an output shaft of the speed increaser is connected with the rotating shaft, and the swing rod is connected with a push rod of the hydraulic cylinder; the hydraulic cylinder is hinged on the wrist; the speed increasing ratio of the speed increasing machine is matched with the angle of a push rod pushed by a hydraulic cylinder; when the overturning electromagnet works, the overturning angle is m degrees, the hydraulic cylinder pushes the push rod by n degrees, and the speed increasing ratio of the speed increasing machine is m/n; or,
the driving device comprises a driving motor box, two gears and a driving motor which are different in size and meshed with each other are arranged in the driving motor box, an output shaft of the driving motor is connected with the small gear through a shaft, and a rotating shaft of the turning electromagnet is connected with the large gear through a shaft; or,
the driving device comprises a rotary fluid pressure cylinder, and a rotating shaft of the turning electromagnet is connected with the rotary fluid pressure cylinder shaft.
Preferably, the rotating shaft is a hollow rotating shaft with a through hole in the center, one end of the hollow rotating shaft is fixedly connected with the side wall of the turning electromagnet, the other end of the hollow rotating shaft is rotatably connected with the wrist, and a wire harness consisting of a power line and a signal line of the turning electromagnet penetrates through the through hole and is led out to the power box.
Preferably, the turning magnet is provided with a profile clamping mechanism which is a sliding clamping mechanism, a turning clamping mechanism or a lifting clamping mechanism;
the sliding clamping mechanism comprises a toothed plate which is in sliding connection with the overturning magnet and a toothed plate driving mechanism which is used for driving the toothed plate to slide, and clamping notches matched with the profiles are formed in the toothed plate along the arrangement direction of the profiles;
the overturning clamping mechanism comprises a toothed plate hinged with the overturning magnet and a toothed plate driving mechanism for driving the toothed plate to overturn, and clamping notches matched with the sectional material are formed in the toothed plate along the arrangement direction of the sectional material;
the lifting clamping mechanism comprises a toothed plate which is in sliding connection with the side surface of the turning magnet and a toothed plate driving mechanism which drives the electromagnet to lift; and clamping notches matched with the sectional materials in the direction of the sectional materials are formed in the toothed plate along the arrangement direction of the sectional materials.
The invention discloses a high-speed stacking system which comprises stacking equipment, wherein the stacking equipment comprises a support, a suspension arm, a driving device, a wrist part and an overturning magnet; the support is an inverted L-shaped support, the support comprises a horizontal section and a vertical section, one end of the horizontal section is connected with the top end of the vertical section, the suspension arm is hinged with the other end of the horizontal section through a first hinge shaft, the driving device is arranged between the support and the suspension arm and is hinged with the suspension arm, the wrist comprises a connecting shaft at the rear end and a parallel support at the front end, the suspension arm is hinged with the wrist, and the front end of the wrist is rotatably connected with a turning magnet;
the stacking equipment further comprises a compensating device used for compensating the movement precision of the suspension arm driving device, a pre-tightening device used for balancing the self weight and the load of part or all of the suspension arm, and a positioning device used for accurately positioning the position of the suspension arm.
Preferably, the driving device comprises a driving connecting rod, a rocker, a rotating shaft rotationally connected with the frame and a driving mechanism for driving the rotating shaft to rotate, the rocker is rotationally connected with the rotating shaft, one end of the driving connecting rod is hinged with the rocker, and the other end of the driving connecting rod is hinged with the suspension arm;
or, the suspension arm is connected with the first hinge shaft in an anti-rotation mode, the driving device comprises a telescopic structure, and two ends of the telescopic structure are respectively hinged with the suspension arm and the rack.
Preferably, the driving device is hinged with the frame through the compensating device; the compensation device comprises a compensation base hinged with the rack and a compensation driving mechanism hinged with one side, far away from the rack, of the compensation base; the driving device is hinged with the middle part of the compensation base; the motion precision of the compensation driving device is higher than that of the driving device;
or, the compensation device comprises a compensation base connected with the rack in a sliding manner and a compensation driving mechanism for driving the compensation base to slide, and the driving device is connected with the compensation base.
Preferably, the pre-tightening device comprises a balance mechanism and a balance adjusting mechanism, wherein two ends of the balance mechanism are respectively hinged with the rack and the suspension arm, and the balance adjusting mechanism is used for adjusting the balance force of the balance mechanism;
the balance mechanism comprises an air cylinder and an air bag communicated with the air cylinder, and the balance adjusting mechanism comprises an air source, an air source processing element for communicating the air source with the air bag and a barometer arranged on the air bag;
or,
the pre-tightening device comprises a balance mechanism and a balance adjusting mechanism, wherein two ends of the balance mechanism are respectively hinged with the rack and the suspension arm, and the balance adjusting mechanism is used for adjusting the balance force of the balance mechanism;
the balance mechanism comprises a spring, and the balance adjusting mechanism comprises a position adjusting mechanism for adjusting the connecting position of the spring and the machine frame.
Preferably, the wrist comprises a connecting plate arranged at the bottom of the suspension arm and two side plates which are connected to the connecting plate and oppositely arranged; the turning electromagnet is arranged between the two side plates; the wrist part is provided with a driving mechanism for driving the overturning magnet to overturn; the connecting plate is fixedly connected with the suspension arm; or the connecting plate is provided with an attitude adjusting mechanism or a horizontal holding mechanism hinged with the suspension arm;
the posture adjusting mechanism comprises a translation connecting rod arranged in parallel with the suspension arm, a rocker rotationally connected with the first hinge shaft and a posture driving mechanism for driving the translation connecting rod or the rocker, the upper end of the translation connecting rod is hinged with the rocker through a second hinge shaft, the lower end of the translation connecting rod is hinged with the wrist through a third hinge shaft, and the axes of the first hinge shaft and the third hinge shaft are coplanar with the axis of the second hinge shaft;
the horizontal holding mechanism comprises a translation connecting rod which is arranged in parallel with the suspension arm, the upper end of the translation connecting rod is hinged with the rack through a second hinged shaft, the lower end of the translation connecting rod is hinged with the wrist through a third hinged shaft, and the axes of the first hinged shaft and the third hinged shaft are coplanar with the axis of the second hinged shaft.
Preferably, the driving mechanism for driving the turning magnet to turn comprises a rotary hydraulic cylinder or a speed reducing motor, and an output shaft of the rotary hydraulic cylinder or the speed reducing motor is connected with the electromagnet;
or the driving mechanism also comprises a wrist speed increaser drive; the wrist type speed increaser comprises a driving gear arranged on the wrist, a driven gear arranged on the electromagnet, and at least one transmission gear and a telescopic mechanism which are used for transmitting the motion of the driving gear to the driven gear; one end of the telescopic mechanism is hinged with the wrist, the other end of the telescopic mechanism is hinged with the swing rod, and the swing rod is coaxially connected with the driving gear; the transmission ratio of the driven gear to the driving gear is m/n, wherein m is the rotation angle of the electromagnet, n is the rotation angle of the oscillating bar driven by the electromagnet telescopic driving mechanism, and the telescopic structure can be a hydraulic cylinder.
Preferably, the positioning device is a mobile ranging positioning mechanism, a fixed ranging positioning mechanism or an angle sensor positioning mechanism;
the mobile distance measuring and positioning mechanism comprises a distance measuring mechanism hinged with the suspension arm, a horizontal keeping mechanism used for keeping the measuring mechanism horizontal and a positioning plate arranged corresponding to the movement range of the distance measuring mechanism; the height of the positioning plate is not less than the height difference between the highest point and the lowest point of the movement of the bottom end of the suspension arm; when the bottom end of the suspension arm moves to the highest point, the distance measuring mechanism corresponds to the upper part of the positioning plate, and when the bottom end of the suspension arm moves to the lowest point, the distance measuring mechanism corresponds to the lower part of the positioning plate; or the positioning plate comprises an upper positioning plate arranged corresponding to the rear 1/2 of the upward movement range of the distance measuring mechanism and a lower positioning plate arranged corresponding to the rear 1/2 of the downward movement range of the distance measuring mechanism; when the bottom end of the suspension arm moves to the highest point, the distance measuring mechanism corresponds to the upper positioning plate, and when the bottom end of the suspension arm moves to the lowest point, the distance measuring mechanism corresponds to the lower positioning plate;
the fixed distance measuring and positioning mechanism comprises a positioning plate hinged with the bottom of the suspension arm or the cross beam, a vertical retaining mechanism used for keeping the positioning plate vertical and a distance measuring mechanism arranged corresponding to the positioning plate; the height of the positioning plate is not less than the height difference between the highest point and the lowest point of the movement of the bottom end of the suspension arm; when the bottom end of the suspension arm moves to the highest point, the distance measuring mechanism corresponds to the lower part of the positioning plate, and when the bottom end of the suspension arm moves to the lowest point, the distance measuring mechanism corresponds to the upper part of the positioning plate; or, the positioning plate corresponds to the upper measuring mechanism when the bottom end of the suspension arm moves to the highest point, and corresponds to the lower measuring mechanism when the bottom end of the suspension arm moves to the lowest point;
the angle sensor positioning mechanism comprises an angle sensor connected with a first hinged shaft through a speed increaser, the first hinged shaft is connected with the low-speed end of the speed increaser, the angle sensor is connected with the high-speed end of the speed increaser, the suspension arm is connected with the first hinged shaft in an anti-rotation mode, and the product of the angle range of the movement of the suspension arm and the speed increaser is not larger than the range of the angle sensor.
Preferably, the positioning device further comprises a motion control mechanism, wherein the motion control mechanism comprises an upper trigger mechanism arranged in the range of the rear 1/2 of the upward motion of the suspension arm, a lower trigger mechanism arranged in the range of the rear 1/2 of the downward motion of the suspension arm and a controller communicated with the upper trigger mechanism and the lower trigger mechanism; the controller is communicated with the mobile ranging positioning mechanism, the fixed ranging positioning mechanism and the angle sensor positioning mechanism, and controls the driving device and the compensating device; the upper trigger mechanism and the lower trigger mechanism are proximity switches.
Preferably, the turning magnet is provided with a profile clamping mechanism which is a sliding clamping mechanism, a turning clamping mechanism or a lifting clamping mechanism;
the sliding clamping mechanism comprises a toothed plate which is in sliding connection with the overturning magnet and a toothed plate driving mechanism which is used for driving the toothed plate to slide, and clamping notches matched with the profiles are formed in the toothed plate along the arrangement direction of the profiles;
the overturning clamping mechanism comprises a toothed plate hinged with the overturning magnet and a toothed plate driving mechanism for driving the toothed plate to overturn, and clamping notches matched with the sectional material are formed in the toothed plate along the arrangement direction of the sectional material;
the lifting clamping mechanism comprises a toothed plate which is in sliding connection with the side surface of the turning magnet and a toothed plate driving mechanism which drives the electromagnet to lift; and clamping notches matched with the sectional materials in the direction of the sectional materials are formed in the toothed plate along the arrangement direction of the sectional materials.
The invention reduces the heating of the electromagnet, reduces the hardware cost of the control system and simultaneously improves the working stability of the system in severe environment.
Drawings
FIG. 1 is a schematic diagram of a flipped electromagnetic force controlled connection of the present invention;
FIG. 2 is a preferred combination of the compensating device and the drive device of the high speed palletizing system of the present invention;
FIG. 3 is a schematic view of a wrist level retention mechanism of the high speed palletizing system of the present invention;
FIG. 4 illustrates a preferred combination of the compensating device and the driving device of the high speed palletizing system according to the present invention;
FIG. 5 is a preferred form of the pretensioning device of the high speed palletizing system of the present invention;
FIG. 6 is a preferred construction of the drive flip magnet assembly;
FIG. 7 is a schematic diagram of a preferred structure of a mobile ranging and positioning mechanism of the high-speed stacking system;
FIG. 8 is a system block diagram of the positioning device of the high speed palletizing system of the present invention;
FIG. 9 is a flow chart of the operation of the positioning device of the high speed palletizing system of the present invention;
FIG. 10 is a schematic structural view of a translation clamping mechanism of the turnover electromagnet;
FIG. 11 is a schematic structural view of a fixed ranging and positioning mechanism of the high speed palletizing system of the present invention;
fig. 12 is a schematic structural diagram of the angular sensor positioning mechanism of the high-speed palletizing system.
Detailed Description
The invention is further described with reference to the accompanying drawings.
The wrist is used for connecting the suspension arm and the overturning magnet; or the connecting structure is used for connecting the cross beam and the turning magnet and is formed by two connecting plates arranged on two sides of the turning magnet, one connecting plate arranged on one side of the turning magnet or other connecting structures.
Example 1
The turning electromagnet electromagnetic force control system comprises a wrist part 7, a turning electromagnet 6 rotationally connected with the wrist part 7, and a magnetic force control system arranged on a rotating shaft of the turning electromagnet 6; a driving device for driving the overturning electromagnet to overturn 6 is arranged on the wrist part 7; the magnetic control system comprises a sensor for detecting the position of the electromagnet and a control device for controlling the magnetic force of the turning electromagnet 6; the control device outputs control information according to the received position information of the overturning electromagnet 6 detected by the sensor so as to adjust the magnetic force of the overturning electromagnet 6;
the method for the control device to output control information according to the received position information of the overturning electromagnet 6 detected by the sensor so as to adjust the magnetic force of the electromagnet comprises the following steps: when the overturning electromagnet 6 is detected to overturn to a first phase, the control device controls the magnetic force of the electromagnet to be positioned in a first interval; when the overturning electromagnet 6 is detected to overturn to other phases, the control device controls the magnetic force of the electromagnet to be positioned in a second interval;
the wrist comprises a connecting plate and two side plates which are oppositely arranged and connected to the connecting plate; the turning electromagnet is arranged between the two side plates;
the sensor is an angle sensor, a Hall sensor and a position sensor.
The invention reduces the heating of the electromagnet, solves the problem of inconsistent signal types of the angle sensor and the control device, reduces the hardware cost of the control system, and simultaneously improves the working stability of the system in severe environment.
As a preferred embodiment, the sensor is an angle sensor; the angle sensor is arranged at the rotating shaft end of the turning electromagnet 6, the control device is arranged on the excitation device of the turning electromagnet 6, and the angle sensor is in communication connection with the control device.
When the turning electromagnet 6 rotates, the angle rotator receives a signal, the angle sensor transmits the received signal to the control device, and the control device judges the working state of the turning electromagnet 6 after receiving the signal, so that the energizing voltage of the electromagnet is controlled, and the magnetic force of the turning electromagnet 6 is controlled;
when the overturning electromagnet 6 overturns downwards, the larger the force required for maintaining the balance of conveyed articles is, the system can automatically improve the voltage of the electromagnet coil, thereby increasing the electromagnetic force and keeping the articles stable;
when gravity can provide friction, the force required for keeping the balance of the transported articles is small, the system can automatically reduce the voltage of the electromagnet coil, and the heating of the magnet is reduced.
The control system of the embodiment has a simple structure, is easy to operate, effectively reduces the high-load work of the turning electromagnet 6, and prolongs the service life of the turning electromagnet 6.
Example 2
The sensor signal directly adjusts the voltage of the coil of the turning electromagnet 6 through a mapping relation; the direct mapping relationship between the signal and the voltage regulation signal is shown in the following formula:
wherein: u shapeadjFor voltage regulating signals, UlowIs the lower limit of the operating voltage, UuppTo adjust the upper limit of the voltage, AplFor tilting the angle of the moving part of the gripping device, AlbFor angle detection error limit, AubIs the maximum rotation angle.
The voltage of the iron coil of the turning electromagnet 6 is directly adjusted through the output signal of the sensor, and the magnetic force of the turning electromagnet 6 is controlled;
when the turning electromagnet 6 turns downwards, the required magnetic force is large, the sensor controls the voltage of the electromagnet coil to rise, and the magnetic force of the turning electromagnet 6 is increased;
when the overturning electromagnet overturns upwards, the gravity of the section steel provides certain friction force, the required magnetic force is small, the voltage of the 6 coils of the sensor control overturning electromagnet is reduced, and the magnetic force of the overturning electromagnet is reduced.
The control method of the invention reduces the heating of the electromagnet, reduces the hardware cost of the control system, simultaneously improves the working stability of the system in severe environment and prolongs the service life of the turnover electromagnet.
Example 3
As shown in fig. 6, the driving device of this embodiment includes a speed-increasing turning device, which includes a speed-increasing machine and a hydraulic cylinder 702; the speed increaser adopts a shaft-mounted structure of gear transmission, an input shaft 701 of the speed increaser is fixedly connected with a swing rod, an output shaft of the speed increaser is connected with the rotating shaft, and the swing rod is connected with a push rod of the hydraulic cylinder 702; the hydraulic cylinder 702 is hinged on the wrist; the speed increasing ratio of the speed increasing machine is matched with the angle of a push rod pushed by a hydraulic cylinder; when the turning electromagnet 6 works, the turning angle is m degrees, the hydraulic cylinder 702 pushes the push rod by n degrees, and the speed increasing ratio of the speed increasing machine is m/n; or,
the driving device comprises a driving motor box, two gears and a driving motor which are different in size and meshed with each other are arranged in the driving motor box, an output shaft of the driving motor is connected with the small gear through a shaft, and a rotating shaft of the turning electromagnet is connected with the large gear through a shaft; or,
the driving device comprises a rotary fluid pressure cylinder, and a rotating shaft of the turning electromagnet is connected with the rotary fluid pressure cylinder shaft.
The embodiment adopts various forms to drive the overturning electromagnet to overturn, improves the rotating speed of the overturning electromagnet and keeps the overturning precision of the overturning electromagnet.
Example 4
Based on the above embodiment, the rotating shaft is a hollow rotating shaft with a through hole in the center, one end of the hollow rotating shaft is fixedly connected with the side wall of the turning electromagnet, the other end of the hollow rotating shaft is rotatably connected with the wrist, and a wiring harness consisting of a power line and a signal line of the turning electromagnet penetrates through the through hole and is led out to the power box.
The power cord of this embodiment with the upset electro-magnet is better draws forth, does not hinder the upset of upset electro-magnet, has improved the work efficiency of upset electro-magnet.
Example 5
In this embodiment, the turning magnet is provided with a profile clamping mechanism, and the profile clamping mechanism is a sliding clamping mechanism, a turning clamping mechanism or a lifting clamping mechanism;
as shown in fig. 2, the sliding clamping mechanism includes a toothed plate 608 slidably connected to the turning magnet and a toothed plate driving mechanism 607 for driving the toothed plate to slide, and a clamping notch adapted to the profile is formed in the toothed plate 608 along the profile arrangement direction;
the overturning clamping mechanism comprises a toothed plate hinged with the overturning magnet and a toothed plate driving mechanism for driving the toothed plate to overturn, and clamping notches matched with the sectional material are formed in the toothed plate along the arrangement direction of the sectional material;
the lifting clamping mechanism comprises a toothed plate which is in sliding connection with the side surface of the turning magnet and a toothed plate driving mechanism which drives the electromagnet to lift; and clamping notches matched with the sectional materials in the direction of the sectional materials are formed in the toothed plate along the arrangement direction of the sectional materials.
Example 6
The high-speed stacking system comprises stacking equipment, wherein the stacking equipment comprises a support 1, a suspension arm 2, a driving device, a wrist part 7 and an overturning magnet 6; the support 1 is an inverted L-shaped support, the support 1 comprises a horizontal section 101 and a vertical section 102, one end of the horizontal section 101 is connected with the top end of the vertical section 102, the suspension arm 2 is hinged with the other end of the horizontal section 101 through a first hinge shaft 201, the driving device is arranged between the support 1 and the suspension arm 2 and is hinged with the suspension arm 2, the suspension arm 2 is hinged with the wrist 7, and the front end of the wrist 7 is rotatably connected with a turning magnet 6;
the stacking device further comprises a compensating device for compensating the motion precision of the driving device 3 of the suspension arm 2, a pre-tightening device for balancing the dead weight and the load of part or all of the suspension arm 2, and a positioning device for accurately positioning the position of the suspension arm 2.
The driving device comprises a driving connecting rod 301, a rocker 303, a rotating shaft rotationally connected with the frame and a driving mechanism 302 for driving the rotating shaft to rotate, the rocker 303 is rotationally connected with the rotating shaft, one end of the connecting rod 301 is hinged with the rocker 303, and the other end of the connecting rod 301 is hinged with the suspension arm; one rocker 303 is one arm of a crank arm, the driving mechanism 302 is an electric cylinder, a hydraulic cylinder or an air cylinder, a telescopic rod of the electric cylinder, the hydraulic cylinder or the air cylinder is hinged with the other arm of the crank arm, and a cylinder body of the electric cylinder, the hydraulic cylinder or the air cylinder is hinged with the rack through a compensation device.
The driving device is hinged with the frame through the compensating device;
as shown in fig. 4, the compensating device includes a compensating base 401 hinged to the frame and a compensating driving mechanism 402 hinged to a side of the compensating base 401 away from the frame; the driving device is hinged with the middle part of the compensation base 401; the motion precision of the compensation driving device is higher than that of the driving device;
as shown in fig. 5, the pre-tightening device includes a balance mechanism whose two ends are respectively hinged to the frame and the boom, and a balance adjustment mechanism for adjusting the balance force of the balance mechanism;
the balance mechanism comprises an air cylinder 501 and an air bag 510 communicated with the air cylinder, and the balance adjusting mechanism comprises an air source 516, an air source processing element 512 used for communicating the air source 516 with the air bag 510, and a barometer 511 arranged on the air bag 510;
the balance cylinder 501 is installed between the swing arm 2 and the frame body 1, and supports the self weight of the swing arm in the action process of the swing arm 2.
The air supply system comprises an air source 516, an air bag 510, an air pressure gauge 511, an air source processing three element 512, a welded steel pipe 503 and a ball valve 513, wherein the air source 516 stores compressed air into the air bag 510 through a reducing joint 515, the welded steel pipe 514, the ball valve 513 and the air source processing three element 512, the ball valve 513 can be manually adjusted to inflate the air bag 510, and a pressure release valve on the air bag 510 can also be adjusted to deflate.
The air bag 510 is provided with an air pressure gauge 511, and the air pressure value of the air bag 510 can be read in real time;
the cylinder air inlet unit 502 is connected with an air bag 510 through a welded steel pipe 503, a reducing pipe joint 504, a welded steel pipe 505, a ball valve 506, a movable joint 507 welded steel pipe 508 and a reducing pipe joint 509, and the ball valve 506 can be manually closed or opened so as to control an air transmission channel between the air bag 510 and the balance cylinder 501.
The air bag 510 is arranged at the side of the stacking manipulator frame body 1 or at a position close to the stacking manipulator frame body 1, and the ball valve 506 between the air bag 510 and the air cylinder is arranged at a position on the frame body 1 convenient to operate.
The wrist part 7 comprises a connecting plate arranged at the bottom of the suspension arm 2, and the wrist part comprises a connecting plate and two side plates which are connected to the connecting plate and oppositely arranged; the turning electromagnet is arranged between the two side plates; the wrist part is provided with a driving mechanism for driving the overturning magnet to overturn; the connecting plate is fixedly connected with the suspension arm 2; or the connecting plate is provided with an attitude adjusting mechanism or a horizontal holding mechanism hinged with the suspension arm 2;
the posture adjusting mechanism comprises a translation connecting rod arranged in parallel with the suspension arm, a rocker rotationally connected with the first hinge shaft 201 and a posture driving mechanism for driving the translation connecting rod or the rocker, the upper end of the translation connecting rod is hinged with the rocker through a second hinge shaft, the lower end of the translation connecting rod is hinged with the wrist through a third hinge shaft, and the axes of the first hinge shaft and the third hinge shaft are coplanar with the axis of the second hinge shaft;
the horizontal holding mechanism comprises a translation connecting rod which is arranged in parallel with the suspension arm, the upper end of the translation connecting rod is hinged with the rack through a second hinge shaft, the lower end of the translation connecting rod is hinged with the wrist through a third hinge shaft, and the axes of the first hinge shaft and the third hinge shaft are coplanar with the axis of the second hinge shaft;
as shown in fig. 6, the driving mechanism for driving the turning magnet 6 to turn comprises a rotary hydraulic cylinder or a speed reducing motor, and an output shaft of the rotary hydraulic cylinder or the speed reducing motor is connected with the electromagnet;
or the driving mechanism also comprises a wrist speed increaser drive; the wrist type speed increaser comprises a driving gear arranged on the wrist, a driven gear arranged on the electromagnet, and at least one transmission gear and a telescopic mechanism 702 which are used for transmitting the motion of the driving gear to the driven gear; one end of the telescopic mechanism is hinged with the wrist, the other end of the telescopic mechanism is hinged with the swing rod, and the swing rod is coaxially connected with the driving gear; the transmission ratio of the driven gear to the driving gear is m/n, wherein m is the rotation angle of the electromagnet, n is the rotation angle of the oscillating bar driven by the electromagnet telescopic driving mechanism 702, and the telescopic structure 702 can be a hydraulic cylinder.
As shown in fig. 7-9, the positioning device is a mobile ranging positioning mechanism; the mobile distance measuring and positioning mechanism comprises a distance measuring mechanism hinged with the bottom of the suspension arm or the cross beam, a horizontal keeping mechanism used for keeping the measuring mechanism horizontal and a positioning plate arranged corresponding to the movement range of the distance measuring mechanism; the height of the positioning plate 215 is not less than the height difference between the highest point and the lowest point of the movement of the bottom end of the suspension arm; when the bottom end of the suspension arm moves to the highest point, the distance measuring mechanism corresponds to the upper part of the positioning plate 215, and when the bottom end of the suspension arm moves to the lowest point, the distance measuring mechanism corresponds to the lower part of the positioning plate 215; the positioning device further comprises a motion control mechanism, wherein the motion control mechanism comprises an upper trigger mechanism arranged in the range of the rear 1/2 of the upward motion of the suspension arm, a lower trigger mechanism arranged in the range of the rear 1/2 of the downward motion of the suspension arm and a controller communicated with the upper trigger mechanism and the lower trigger mechanism; the controller is communicated with the mobile ranging and positioning mechanism, and controls the driving device and the compensating device; the upper trigger mechanism and the lower trigger mechanism are proximity switches. The distance measuring mechanism comprises a light-shielding protection box 213 and a laser ranging mechanism 214 arranged in the light-shielding protection box 213;
as shown in fig. 10, the electromagnet is provided with a profile clamping mechanism, and the profile clamping mechanism is a sliding clamping mechanism; the sliding clamping mechanism comprises a toothed plate 608 in sliding connection with the electromagnet and a toothed plate driving mechanism 607 for driving the toothed plate 608 to slide, and clamping notches matched with the profiles are formed in the toothed plate 608 along the profile arrangement direction.
Example 7
The working process of the parallel high-speed stacking manipulator of the embodiment is described below by taking the stacking process of small-sized angle steel as an example:
in an initial state of the present embodiment, as shown in the figure, the boom driving device 3 makes the boom 2 in a vertical state, and the flipping electromagnet 6 has a downward magnetic pole.
When steel is positively stacked, the boom driving device 3 drives the connecting lever 303 to rotate, other rockers 303 are connected and rotated through the shaft 305, then the driving connecting rod 301 is driven to drive the boom 2 to swing forwards until the turning electromagnet 6 is positioned above the steel receiving position of the steel, then the grouping driving device drives the grouping lifting platform main body to move upwards, when the grouping lifting platform main body moves upwards to a position suitable for the electromagnet 6 to absorb angle steel, then the electromagnet absorbs 6 to take the angle steel, when the electromagnet absorbs the angle steel, the corner of the angle steel is clamped in the clamping notch of the toothed plate 608, so that the angle steel keeps the posture unchanged, then the driving device 3 drives the boom 2 to move towards the roller way lifting platform, until the turning electromagnet 6 is positioned above the roller way, the roller way lifting platform is lifted to a position convenient for the electromagnet 6 to put down the angle steel, and at the moment, the electromagnet. During the movement of the boom, since the wrist multi-link horizontal holding means forms two parallel four-link mechanisms and the initial state of the wrist 7 is a horizontal state, the wrist 7 is always kept horizontal throughout the entire operation.
And then, carrying out reverse steel stacking, namely lifting the section bars to be stacked to a higher steel receiving position by a grouping lifting platform, then actuating a driving mechanism 302, driving the suspension arm to swing forwards to the steel receiving position by a crank arm 303, a shaft 305, a rocker 303 and a connecting rod 301, extending out an electromagnet telescopic driving device 702, driving a turnover shaft 701 to rotate, and driving a turnover electromagnet 6 to rotate by a reduction gearbox, so that the magnetic poles horizontally absorb the angle steel upwards. Because the angle steel is in the bamboo form when the right code, the bamboo form when the angle steel is in the bamboo form, the superposition is on the angle steel that is in the bamboo form when the previous bamboo form is good, the bamboo form is in ﹀ bamboo form ﹀, the opening of the bamboo form angle steel is down, the opening of the bamboo form angle steel is up. When the angle steel is right-code, because the sharp angle end of the angle steel faces upwards and is in single-line contact with the electromagnet 6, the contact area is very small, and the side turning is easily generated on the electromagnet 6, a guide toothed plate 608 must be arranged on the electromagnet to guide the angle steel with the right code. However, during the subsequent code reversing process, the guide toothed plate 608 interferes with the angle steel of the code, so that the edge of the angle steel needs to be in contact with the horizontal plane, and therefore the toothed plate 608 needs to be driven by the toothed plate driving mechanism 607 to move before the angle steel is sucked, so that the edge of the angle steel is aligned with the straight part of the toothed plate 608. Then the grouping lifting platform moves downwards, the angle steel is absorbed on the electromagnet 6, after the grouping lifting platform leaves the overturning area, the electromagnet telescopic driving mechanism 702 retracts, and the overturning electromagnet 6 rotates 180 degrees in the reverse direction; then the driving device 302 drives the crank arm 303 to move, the suspension arm 2 is driven to swing to the reverse steel stacking position through the shaft 305, the rocker 303 and the connecting rod 301, after the suspension arm is in place, the turning electromagnet 6 is powered off, and the steel falls on the stacking lifting platform.
During the movement of the boom, the pressure in the air bag 510 of the present embodiment should satisfy: firstly, the balance moment generated by the thrust of the balance cylinder 501 is slightly larger than the maximum load resisting moment generated by the self-weight in the motion process of the swing arm, and secondly, the pressure of the air bag 510 is basically unchanged in the whole driving process. Under the two conditions, the swing arm does not have the action of the driving connecting rod, and swings to the foremost position under the thrust of the balance cylinder 501, so that the stress of the driving connecting rod is changed from original compression to tension, and the phenomenon of instability of the compression bar is avoided; after the swing arm 2 is connected with steel in a front swing mode, the weight of steel is increased, the swing arm swings back due to the fact that the load moment is increased, and the pulling force of the driving connecting rod is reduced; in the action process of the swing arm 2, the balance cylinder 501 is always in a thrust state, the driving pull rod is always in a tension state, and the stress of the connecting component is not reversed, so that the influence of a gap at the hinged position is eliminated. The precision of the suspension arm in the swing process is improved.
In the movement process of the suspension arm, the movement tail section of the suspension arm is positioned by a positioning device, and the process is as follows: in the front swing process, the suspension arm 2 runs at full speed through the driving device 302 at the beginning of movement to drive the suspension arm 2 to move rapidly, when the suspension arm 2 passes through the upper trigger mechanism, the suspension arm enters the end of movement, the controller obtains the current position of the suspension arm 2 through the positioning device and controls the driving device 302 to drive the suspension arm to move, when the position of the suspension arm is close to the preset position, the controller controls the compensation device to drive the suspension arm 2 to move, the movement precision of the compensation device is high, the suspension arm can be accurately stopped at the preset position, and the back swing process of the suspension arm 2 is similar to the front swing process. Therefore, the initial segment of the movement does not need to be calculated, and the calculation amount of the controller can be greatly reduced. And at the tail section, the distance measuring mechanism measures the position of the suspension arm, the error is very small, and the suspension arm is driven to move by the high-precision compensating device, so that the suspension arm can be accurately stopped at a preset position.
Example 8
In this embodiment, the driving device is replaced by a telescopic mechanism, the boom is connected with the first hinge shaft 201 in a rotation-proof manner, and two ends of the telescopic mechanism are respectively hinged to the boom and the frame.
In this embodiment, the boom is connected to the first hinge shaft 201 in a rotation-proof manner, and then the boom 2 is driven to move by the telescopic mechanism, at this time, since the boom 2 is connected to the first hinge shaft 201 in a rotation-proof manner, the boom 2 can also move. The embodiment directly drives the suspension arm 2 to move by adopting the telescopic mechanism without transmission, so that the energy consumption in the transmission process can be reduced, and the energy conversion efficiency is improved.
On the basis of the above embodiment, the mobile distance measuring and positioning mechanism can be replaced by a fixed distance measuring and positioning mechanism, as shown in fig. 11, the fixed distance measuring and positioning mechanism includes a positioning plate 215 hinged to the bottom of the boom or the beam, a vertical holding mechanism for holding the positioning plate 215 vertical, and a distance measuring mechanism disposed corresponding to the positioning plate 215; the distance measuring mechanism comprises a shading protection box 213 and a laser distance measuring mechanism 214 arranged in the shading protection box 213, and the height of the positioning plate 215 is not less than the height difference between the highest point and the lowest point of the movement of the bottom end of the suspension arm; when the bottom end of the suspension arm moves to the highest point, the distance measuring mechanism corresponds to the lower portion of the positioning plate 215, and when the bottom end of the suspension arm moves to the lowest point, the distance measuring mechanism corresponds to the upper portion of the positioning plate 215. The structure can also accurately position the boom by measuring the distance between the lower end of the boom and a certain fixed point.
Of course, the position of the boom can also be positioned by measuring the rotation angle of the boom, at this time, an angle sensor positioning mechanism is needed, as shown in fig. 12, the angle sensor positioning mechanism includes an angle sensor 212 connected to the first hinge shaft through a speed-increasing gear 210, the housing of the angle sensor 212 is mounted on a rotating base 211, the rotating base 211 is rotatably connected with a housing or a first hinge shaft, the rotating base 211 is provided with a locking means for locking the rotating base 211 to the housing or the first hinge shaft, the first hinge shaft is connected to a low-speed end of the speed increasing machine 210, the angle sensor 212 is connected to a high-speed end of the speed increasing machine 210, the boom is connected with the first hinge shaft in a rotation-proof manner, and the product of the angle range of the motion of the boom and the speed increasing ratio of the speed increasing machine 210 is not more than the measuring range of the angle sensor 212. The above-described structure connects the first hinge shaft with the angle sensor 212 through the speed increasing device, and when the first hinge shaft rotates by an angle, the speed increasing device enlarges the range of the measurement section of the angle sensor 212 by increasing the speed, thereby indirectly enhancing the resolution of the angle sensor 212. When the manipulator swings, the mechanical movement of the manipulator performs a rotational movement about an axis at the end of the manipulator, which at the same time drives the speed increaser 210 connected to the axis. The swing arm operation interval is set as [0, A ], and after the swing arm operation interval is amplified by the speed ratio k of the speed increaser 210, the high-speed end operation interval of the speed increaser 210 is actually [0, kA ]. The resolution of the sensor is set to be B, and the sensor is connected to the high-speed end of the speed increaser 210, so that the measurement resolution of the high-speed end of the speed increaser 210 is B, and the measurement resolution of the low-speed end of the speed increaser 210 is B/k, that is, the resolution of the measurement performed on the swing arm by the measuring device provided by the invention is B/k, and the precision is improved by k times.
On the basis of the above embodiments, there are two possible structures of the clamping mechanism of the electromagnet: a turnover clamping mechanism or a lifting clamping mechanism.
The overturning clamping mechanism comprises a toothed plate hinged with the electromagnet and a toothed plate driving mechanism for driving the toothed plate to overturn, and clamping notches matched with the sectional materials are formed in the toothed plate along the arrangement direction of the sectional materials; when the toothed plate is required to be clamped and fixed, the toothed plate driving mechanism drives the toothed plate to overturn downwards, so that the clamping and fixing notch of the toothed plate is arranged on the lower side of the electromagnet, at the moment, the sectional material can be clamped and fixed, and when the sectional material is not required to be clamped and fixed, the toothed plate driving mechanism drives the toothed plate to overturn upwards and overturn to the upper side of the lower edge of the electromagnet, so that the suction of the electromagnet to the section steel is not influenced.
The lifting clamping mechanism comprises a toothed plate which is in sliding connection with the side surface of the electromagnet and a toothed plate driving mechanism which drives the electromagnet to lift; and clamping notches matched with the sectional materials in the direction of the sectional materials are formed in the toothed plate along the arrangement direction of the sectional materials. When the toothed plate is required to clamp and fix the profile, the toothed plate driving device drives the toothed plate to descend so that the clamping notch of the toothed plate leaks out of the lower edge of the electromagnet, and when the toothed plate is not required to clamp and fix the profile, the toothed plate driving mechanism drives the toothed plate to ascend so that the clamping notch of the toothed plate ascends above the lower edge of the electromagnet, so that the profile is not absorbed by the electromagnet.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (8)
1. The utility model provides a upset electro-magnet electromagnetic force control system which characterized in that: the wrist turning device comprises a wrist, a turning electromagnet rotationally connected with the wrist and a magnetic control system arranged on a rotating shaft of the turning electromagnet; the wrist part is provided with a driving device for driving the overturning electromagnet to overturn; the magnetic control system comprises a sensor for detecting the position of the electromagnet and a control device for controlling the magnetic force of the electromagnet; the control device outputs control information according to the received position information of the overturning electromagnet detected by the sensor so as to adjust the magnetic force of the overturning electromagnet.
2. A flipping electromagnetic ferroelectric-magnetic control system as claimed in claim 1, wherein: the method for adjusting the magnetic force of the overturning electromagnet by the control device outputting control information according to the received position information of the overturning electromagnet detected by the sensor comprises the following steps: when the overturning electromagnet is detected to overturn to a first phase, the control device controls the magnetic force of the electromagnet to be positioned in a first interval; and when the overturning electromagnet is detected to overturn to other phases, the control device controls the magnetic force of the electromagnet to be positioned in a second interval.
3. A flipping electromagnetic ferroelectric-magnetic control system as claimed in claim 1, wherein: the wrist comprises a connecting plate and two side plates which are oppositely arranged and connected to the connecting plate; the overturning electromagnet is arranged between the two side plates.
4. A flipping electromagnetic ferroelectric-magnetic control system as claimed in claim 1, wherein: the sensor is an angle sensor, a Hall sensor and a position sensor.
5. A flipping electromagnetic ferroelectric-magnetic control system as claimed in claim 1, wherein: the sensor is an angle sensor; the angle sensor is arranged at the rotating shaft end of the turning electromagnet, the control device is arranged on the excitation device of the turning electromagnet, and the angle sensor is in communication connection with the control device.
6. A flipping electromagnetic ferroelectric-magnetic control system as claimed in claim 1, wherein: the driving device comprises a speed-increasing turning device, and the speed-increasing turning device comprises a speed-increasing machine and a hydraulic cylinder; the speed increaser adopts a shaft-mounted structure of gear transmission, an input shaft of the speed increaser is fixedly connected with a swing rod, an output shaft of the speed increaser is connected with the rotating shaft, and the swing rod is connected with a push rod of the hydraulic cylinder; the hydraulic cylinder is hinged on the wrist; the speed increasing ratio of the speed increasing machine is matched with the angle of a push rod pushed by a hydraulic cylinder; when the overturning electromagnet works, the overturning angle is m degrees, the hydraulic cylinder pushes the push rod by n degrees, and the speed increasing ratio of the speed increasing machine is m/n; or,
the driving device comprises a driving motor box, two gears and a driving motor which are different in size and meshed with each other are arranged in the driving motor box, an output shaft of the driving motor is connected with the small gear through a shaft, and a rotating shaft of the turning electromagnet is connected with the large gear through a shaft; or,
the driving device comprises a rotary fluid pressure cylinder, and a rotating shaft of the turning electromagnet is connected with the rotary fluid pressure cylinder shaft.
7. A flipping electromagnetic ferroelectric-magnetic control system as claimed in claim 1, wherein: the turning electromagnet is characterized in that the rotating shaft is a hollow rotating shaft with a through hole in the center, one end of the hollow rotating shaft is fixedly connected with the side wall of the turning electromagnet, the other end of the hollow rotating shaft is rotatably connected with the wrist, and a wire harness consisting of a power line and a signal line of the turning electromagnet penetrates through the through hole and is led out to the power box.
8. A flipping electromagnetic ferroelectric-magnetic control system as claimed in claim 1, wherein: the overturning magnet is provided with a profile clamping mechanism which is a sliding clamping mechanism, an overturning clamping mechanism or a lifting clamping mechanism;
the sliding clamping mechanism comprises a toothed plate which is in sliding connection with the overturning magnet and a toothed plate driving mechanism which is used for driving the toothed plate to slide, and clamping notches matched with the profiles are formed in the toothed plate along the arrangement direction of the profiles;
the overturning clamping mechanism comprises a toothed plate hinged with the overturning magnet and a toothed plate driving mechanism for driving the toothed plate to overturn, and clamping notches matched with the sectional material are formed in the toothed plate along the arrangement direction of the sectional material;
the lifting clamping mechanism comprises a toothed plate which is in sliding connection with the side surface of the turning magnet and a toothed plate driving mechanism which drives the electromagnet to lift; and clamping notches matched with the sectional materials in the direction of the sectional materials are formed in the toothed plate along the arrangement direction of the sectional materials.
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| CN201610799326.4A CN106185592B (en) | 2016-08-31 | 2016-08-31 | Overturn electromagnet electromagnetism Force control system |
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| DE202005016489U1 (en) * | 2005-10-20 | 2007-03-01 | Liebherr-Hydraulikbagger Gmbh | Hydraulic excavator with built-in magnetic crosshead |
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| JP2001187638A (en) * | 1999-12-27 | 2001-07-10 | Amada Co Ltd | Material feeding device |
| DE102007018440A1 (en) * | 2006-04-26 | 2007-11-22 | Sms Meer Gmbh | Interleaved or rolled out sections stacking method, involves rotatably adjusting magnet corresponding to changed angle of rotation of rotating arms such that magnet receives horizontal layer for stacking unit |
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