CN106217359A - Stacking machine mechanical arm balance pretensioner systems - Google Patents
Stacking machine mechanical arm balance pretensioner systems Download PDFInfo
- Publication number
- CN106217359A CN106217359A CN201610798202.4A CN201610798202A CN106217359A CN 106217359 A CN106217359 A CN 106217359A CN 201610798202 A CN201610798202 A CN 201610798202A CN 106217359 A CN106217359 A CN 106217359A
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- China
- Prior art keywords
- arm
- balance
- stacking machine
- hinged
- machine mechanical
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
- Manipulator (AREA)
Abstract
The open a kind of stacking machine mechanical arm balance pretensioner systems of the present invention, mainly for the problem that the stacking machine arm response speed under prior art is slow, propose a kind of stacking machine mechanical arm that can improve stacking machine arm response speed balance pretensioner systems, the arm hinged with described frame including frame and for balance portion or all arm deadweight and/or the bascule of load；Wherein, described frame includes vertical section and the horizontal segment being connected with described vertical section, and described arm is hinged with described horizontal segment front end；Described bascule includes hinged with described arm and the described vertical section respectively elastic mechanism in two ends and for regulating the governor motion of elastic mechanism elastic force.The present invention makes arm be in the state close to balance by elastic mechanism, and when driving arm, arm can respond rapidly to, and movement velocity is fast.
Description
Technical field
The present invention relates to a kind of stacking machine mechanical arm balance pretensioner systems.
Background technology
After rolling of sectional iron, after cooled, scale, aligning, it is necessary to satisfy the criteria and the merchant shapes packing specification in market
Require that pushing away code according to certain pattern becomes buttress to delivery to customer product, in order to realize the storage of material, carry, load and unload the things such as transport
Stream is movable.Section bar high speed piling mechanical hand preferably uses swing arm structure, and the swing arm of rigidity is capable of accurately controlling and positioning, this
Swing arm structure work process is as follows: drive element to drive swinging arm by connecting rod, and swing arm can be drawn in groups to connecing steel position by forward swing
Shaped steel, backswing to piling position are by heaps for shaped steel piling.But this frame for movement still suffers from following problem: one, swing arm weight
Greatly, inertia is big, and required driving torque is relatively big, and swinging arm is slow；Two, there is gap in mechanical system hinged place, puts before and after swing arm
There will be jitter phenomenon during Dong, positioning precision is low；Three, connecting rod bears bigger pressure in swing arm swing process, for avoiding
Strut buckling, connecting rod diameter must be relatively big, increases action component quality further, slows down dynamic responding speed.
Summary of the invention
For the problems referred to above, the present invention provides a kind of stacking machine mechanical arm balance offsetting arm and/or load weight
Pretensioner systems.
For reaching above-mentioned purpose, stacking machine mechanical arm of the present invention balance pretensioner systems includes frame and described frame hinge
The arm that connects and for balance portion or all arm deadweight and/or the bascule of load；Wherein,
Described frame includes vertical section and the horizontal segment being connected with described vertical section, described arm and described horizontal segment front end
Hinged；
Described bascule include hinged with described arm and the described vertical section respectively elastic mechanism in two ends and for
The governor motion of regulation elastic mechanism elastic force.
Further, described elastic mechanism includes the gas that balance cylinder and the air inlet with described balance cylinder connect
Bag, described governor motion includes source of the gas and for connecting the source of the gas treatment element of origin and gas bag；Stretching of described balance cylinder
Contracting bar and cylinder body are hinged with described arm and described vertical section respectively.
Specifically, described gas bag is provided with air relief valve or pressure regulator valve.
Specifically, described gas bag is provided with the air gauge for measuring gas bag air pressure.
Further, the trimming moment that described arm is applied by described elastic mechanism not less than described arm deadweight and
The moment that arm is applied by load.
Specifically, described balance cylinder is connected by equalizing main with gas bag, and described equalizing main is provided with the first valve
Door, is connected by steam line between described gas bag with described source of the gas, described steam line is provided with the second valve.
Further, described elastic mechanism includes and the connecting lever that is hinged in described vertical section, wherein the one of described connecting lever
Individual arm is hinged with the expansion link of balance cylinder, and the cylinder body of described balance cylinder is hinged with described vertical section, another of described connecting lever
Individual arm is hinged with one end of balanced connecting rod, and the other end of described balanced connecting rod is hinged with described arm.
Specifically, described elastic mechanism also includes the gas bag connected with described balance cylinder；Described governor motion includes leading to
Cross the source of the gas that source of the gas treatment element connects with described gas bag.
Specifically, the length ratio of two arms of described connecting lever is not less than 2:1；Wherein, long-armed and described rod hinge connection, galianconism
Hinged with the expansion link of described balance cylinder.
Specifically, the moment that described arm is produced by described balanced connecting rod not less than the deadweight of described arm and load right
The moment that described arm produces.
Stacking machine mechanical arm of the present invention balance pretensioner systems uses bascule balance arm and the weight of load, this
Sample, makes arm be in a state close to balance, when arm stress, it is possible to quickly respond, rapid movement.Simultaneously as
Arm is in the state close to balance, and the power required for driving arm can reduce, and uses the driving means of smaller power just can
Driving arm moves.
Accompanying drawing explanation
Fig. 1 is the structural representation of stacking machine mechanical arm of the present invention balance pretensioner systems.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention will be further described.
Embodiment 1
As it is shown in figure 1, stacking machine mechanical arm balance pretensioner systems include the frame arm hinged with described frame and
Conduct oneself with dignity and/or the bascule of load for balance portion or whole arm；Wherein,
Described frame includes vertical section and the horizontal segment being connected with described vertical section, described arm and described horizontal segment front end
Hinged；
Described bascule include hinged with described arm and the described vertical section respectively elastic mechanism in two ends and for
The governor motion of regulation elastic mechanism elastic force.
Described elastic mechanism includes the gas bag that balance cylinder 501 and the air inlet with described balance cylinder 501 connect
510, described governor motion includes source of the gas 516 and for connecting the source of the gas treatment element 512 of origin and gas bag 510；Described flat
Expansion link and the cylinder body of weighing apparatus cylinder 501 are hinged with described arm and described vertical section respectively.
It is provided with air relief valve or pressure regulator valve on described gas bag 510.
The air gauge 511 for measuring gas bag 510 air pressure it is provided with on described gas bag 510.
Described balance cylinder 501 is connected by equalizing main with gas bag 510, and described equalizing main is provided with the first valve
Door, is connected by steam line between described gas bag 510 with described source of the gas 516, described steam line is provided with the second valve.
The present embodiment includes palletizing mechanical handset mounting 1, swing arm 2, drive link 3, balance cylinder 501 and air supply system thereof.
Described swing arm 2 hangs on below palletizing mechanical arm support body 1, can rotate by an axle, described drive link and swing arm 2 on support body 1
Hinged, promote swing arm 2 to rotate under the effect driving element；Described balance cylinder 501 is arranged between swing arm 2 and support body 1,
Swing arm 2 course of action supports swing arm deadweight.
Described air supply system includes that source of the gas 516, gas bag 510, air gauge 511, source of the gas process three elements 512, welded still pipe
503 and ball valve 513, described source of the gas 516 processes three elements by reducing joint 515, welded still pipe 514, ball valve 513 and source of the gas
Gas bag 510 is inflated by 512 by compressed-air-storing to gas bag 510, manually adjustable ball valve 513, it is possible to regulation gas bag 510
On air relief valve or pressure regulator valve exit.
Described gas bag 510 is provided with air gauge 511, can read gas bag 510 atmospheric pressure value in real time；
Described cylinder intake unit 502 by welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506,
Articulation 507 welded still pipe 508 and pipe reducer 509 are connected with gas bag 510, can manual-lock or open ball valve 506 with
Just the gas distribution channel between gas bag 510 and balance cylinder 501 is controlled.
Described gas bag 510 is placed on palletizing mechanical arm support body 1 side or more nearby, the ball valve between gas bag 510 and cylinder
506 are arranged on position convenient to operate on support body 1.
The present embodiment stacking machine mechanical arm balance pretensioner systems uses bascule balance arm and the weight of load, this
Sample, makes arm be in a state close to balance, when arm stress, it is possible to quickly respond, rapid movement.Simultaneously as
Arm is in the state close to balance, and the power required for driving arm can reduce, and uses the driving means of smaller power just can
Driving arm moves.
Embodiment 2
On the basis of above-described embodiment, described elastic mechanism the trimming moment that described arm applies is not less than described in hang
The moment that arm is applied by the deadweight of arm and load.
Pressure in the gas bag 510 of the present embodiment should meet: one, the trimming moment that the thrust of balance cylinder 501 produces is slightly
More than conduct oneself with dignity during swing arm motion produce the maximum load moment of resistance, two, gas bag 510 pressure during whole driving basic
Constant.
Under the conditions of above-mentioned two, without the effect of drive link, swing arm by the thrust lower swing at balance cylinder 501 to
Front position, therefore the stress of drive link is become tension from original pressurized, it is to avoid strut buckling phenomenon occur；Before swing arm 2
After pendulum connects steel, adding the weight of steel, the change of loading moment is conducive to greatly swing arm backswing, and the pulling force of drive link subtracts the most therewith
Little；In swing arm 2 course of action, balance cylinder 501 is constantly in thrust rating, drives pull bar to be constantly in tension state, even
Relay part stress does not commutate, thus eliminates the gap impact of hinged place.
According to above-mentioned analysis, use the present invention active balance swing arm to conduct oneself with dignity, improve pull bar stress condition, improve swing arm and ring
Answer speed, eliminate mechanical system motion gap, and then ensure the operation precision of swing arm.
Embodiment 3
The present embodiment provides the set-up mode of another kind of elastic mechanism, described elastic mechanism include be hinged on described vertically
Connecting lever in section, one of them arm of described connecting lever is hinged with the expansion link of balance cylinder, the cylinder body of described balance cylinder and institute
Stating vertical section hinged, another arm of described connecting lever is hinged with one end of balanced connecting rod, the other end of described balanced connecting rod and institute
State arm hinged.
Described elastic mechanism also includes the gas bag connected with described balance cylinder；Described governor motion includes at by source of the gas
The source of the gas that reason element connects with described gas bag.
The length ratio of two arms of described connecting lever is not less than 2:1；Wherein, long-armed and described rod hinge connection, galianconism is with described
The expansion link of balance cylinder is hinged.
The moment that described arm is produced by described balanced connecting rod is hung described not less than deadweight and the load of described arm
The moment that arm produces.
The pretension that the present embodiment realizes arm by connecting lever and balanced connecting rod balances, in such manner, it is possible to use less power
Arm is balanced, simultaneously, additionally it is possible to by the direction of connecting lever cylinder switching elastic force, it is possible to cylinder is arranged on convenient position
Put.
Above, only presently preferred embodiments of the present invention, but protection scope of the present invention is not limited thereto, any it is familiar with basis
Those skilled in the art in the technical scope that the invention discloses, the change that can readily occur in or replacement, all should contain
Within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain that claim is defined.
Claims (10)
1. a stacking machine mechanical arm balance pretensioner systems, it is characterised in that: include the arm that frame is hinged with described frame
And conduct oneself with dignity and/or the bascule of load for balance portion or whole arm；Wherein,
Described frame includes that vertical section and the horizontal segment being connected with described vertical section, described arm cut with scissors with described horizontal segment front end
Connect；
Described bascule includes hinged with described arm and the described vertical section respectively elastic mechanism in two ends and for regulating
The governor motion of elastic mechanism elastic force.
2. stacking machine mechanical arm balances pretensioner systems as claimed in claim 1, it is characterised in that: described elastic mechanism includes putting down
The gas bag that weighing apparatus cylinder and the air inlet with described balance cylinder connect, described governor motion includes source of the gas and for connecting
The source of the gas treatment element of source and gas bag；The expansion link of described balance cylinder and cylinder body cut with scissors with described arm and described vertical section respectively
Connect.
3. stacking machine mechanical arm balances pretensioner systems as claimed in claim 2, it is characterised in that: it is provided with on described gas bag and subtracts
Pressure valve or pressure regulator valve.
4. stacking machine mechanical arm balance pretensioner systems as shown in Claims 2 or 3, it is characterised in that: arrange on described gas bag
There is the air gauge for measuring gas bag air pressure.
5. stacking machine mechanical arm balances pretensioner systems as claimed in claim 1, it is characterised in that: described elastic mechanism is to described
The moment that arm is applied by the trimming moment that arm applies not less than deadweight and the load of described arm.
6. as described in Claims 2 or 3 stacking machine mechanical arm balance pretensioner systems, it is characterised in that: described balance cylinder with
Gas bag is connected by equalizing main, described equalizing main is provided with the first valve, passes through between described gas bag and described source of the gas
Steam line connects, and described steam line is provided with the second valve.
7. as claimed in claim 1 stacking machine mechanical arm balance pretensioner systems, it is characterised in that: described elastic mechanism include with
Being hinged on the connecting lever in described vertical section, one of them arm of described connecting lever is hinged with the expansion link of balance cylinder, described balance
The cylinder body of cylinder is hinged with described vertical section, and another arm of described connecting lever is hinged with one end of balanced connecting rod, and described balance is even
The other end of bar is hinged with described arm.
8. stacking machine mechanical arm balances pretensioner systems as claimed in claim 7, it is characterised in that: described elastic mechanism also includes
The gas bag connected with described balance cylinder；Described governor motion includes the gas connected by source of the gas treatment element with described gas bag
Source.
9. stacking machine mechanical arm balances pretensioner systems as claimed in claim 7, it is characterised in that: two arms of described connecting lever
Length ratio is not less than 2:1；Wherein, long-armed and described rod hinge connection, galianconism is hinged with the expansion link of described balance cylinder.
10. stacking machine mechanical arm balances pretensioner systems as claimed in claim 7, it is characterised in that: described balanced connecting rod is to institute
State the moment that described arm is produced by the moment of arm generation not less than deadweight and the load of described arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798202.4A CN106217359B (en) | 2016-08-31 | 2016-08-31 | Stacking machine mechanical arm balances pretensioner systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798202.4A CN106217359B (en) | 2016-08-31 | 2016-08-31 | Stacking machine mechanical arm balances pretensioner systems |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106217359A true CN106217359A (en) | 2016-12-14 |
| CN106217359B CN106217359B (en) | 2018-09-14 |
Family
ID=58075180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610798202.4A Active CN106217359B (en) | 2016-08-31 | 2016-08-31 | Stacking machine mechanical arm balances pretensioner systems |
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| Country | Link |
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| CN (1) | CN106217359B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129559A (en) * | 2018-08-24 | 2019-01-04 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
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| CN201220417Y (en) * | 2008-05-28 | 2009-04-15 | 长春艾希技术有限公司 | Pneumatic balance transfer manipulator |
| KR20100054427A (en) * | 2008-11-14 | 2010-05-25 | 삼성중공업 주식회사 | Bottom panel attaching device of cargo containment |
| CN201511364U (en) * | 2009-09-16 | 2010-06-23 | 重庆延锋江森座椅有限公司 | Pneumatic balance assisted manipulator |
| CN201660301U (en) * | 2009-12-07 | 2010-12-01 | 江苏天奇物流系统工程股份有限公司 | Movable support of side supporting machine |
| CN203486498U (en) * | 2013-08-23 | 2014-03-19 | 安阳钢铁股份有限公司 | Profile rotation type automatic palletizing device |
| CN205310271U (en) * | 2015-12-30 | 2016-06-15 | 天津市立德尔机械设备有限公司 | Empty helping hand manipulator that hangs |
| CN205996962U (en) * | 2016-08-31 | 2017-03-08 | 中冶华天工程技术有限公司 | Stacking machine mechanical arm balances pretensioner systems |
-
2016
- 2016-08-31 CN CN201610798202.4A patent/CN106217359B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201220417Y (en) * | 2008-05-28 | 2009-04-15 | 长春艾希技术有限公司 | Pneumatic balance transfer manipulator |
| KR20100054427A (en) * | 2008-11-14 | 2010-05-25 | 삼성중공업 주식회사 | Bottom panel attaching device of cargo containment |
| CN201511364U (en) * | 2009-09-16 | 2010-06-23 | 重庆延锋江森座椅有限公司 | Pneumatic balance assisted manipulator |
| CN201660301U (en) * | 2009-12-07 | 2010-12-01 | 江苏天奇物流系统工程股份有限公司 | Movable support of side supporting machine |
| CN203486498U (en) * | 2013-08-23 | 2014-03-19 | 安阳钢铁股份有限公司 | Profile rotation type automatic palletizing device |
| CN205310271U (en) * | 2015-12-30 | 2016-06-15 | 天津市立德尔机械设备有限公司 | Empty helping hand manipulator that hangs |
| CN205996962U (en) * | 2016-08-31 | 2017-03-08 | 中冶华天工程技术有限公司 | Stacking machine mechanical arm balances pretensioner systems |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129559A (en) * | 2018-08-24 | 2019-01-04 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
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| Publication number | Publication date |
|---|---|
| CN106217359B (en) | 2018-09-14 |
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