CN106276269A - Many groups palletizing system in parallel - Google Patents

Many groups palletizing system in parallel Download PDF

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Publication number
CN106276269A
CN106276269A CN201610798825.1A CN201610798825A CN106276269A CN 106276269 A CN106276269 A CN 106276269A CN 201610798825 A CN201610798825 A CN 201610798825A CN 106276269 A CN106276269 A CN 106276269A
Authority
CN
China
Prior art keywords
magnet
arm
lifting platform
wrist
upset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610798825.1A
Other languages
Chinese (zh)
Inventor
徐云辉
卫卫
王俊
石海军
方田
徐峰
孙斌
阮祥伟
李博宇
郝峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huatian Engineering and Technology Corp MCC
Original Assignee
Huatian Engineering and Technology Corp MCC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huatian Engineering and Technology Corp MCC filed Critical Huatian Engineering and Technology Corp MCC
Priority to CN201610798825.1A priority Critical patent/CN106276269A/en
Publication of CN106276269A publication Critical patent/CN106276269A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
    • 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
    • B65G57/08—Stacking of articles by adding to the top of the stack articles being tilted or inverted prior to depositing
    • B65G57/081—Stacking of articles by adding to the top of the stack articles being tilted or inverted prior to depositing alternate articles being inverted
    • 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
    • B65G57/18—Stacking of articles of particular shape elongated, e.g. sticks, rods, bars
    • B65G57/183—Angle irons
    • 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

Abstract

The open a kind of many groups palletizing system in parallel of the present invention, including Palletizer and output lifting platform；Described Palletizer includes some frames be arrangeding in parallel, it is hinged with arm by the first jointed shaft in described frame, the lower end of each described arm is connected with crossbeam, the downside of described crossbeam is fixedly installed some wrists by interval, described wrist has been rotatably connected upset Magnet, the clamping mechanism for fixing section bar it is provided with and for detecting the horizontal detection mechanism of electric magnet whether level on described upset Magnet, each described upset Magnet synchronizes to drive by described Magnet synchronizer, and described frame is provided with the synchronous drive device driving the motion of each described arm；Wherein, described upset Magnet is electric magnet；Described output lifting platform includes some output lifting platform main bodys and for the translation mechanism driving each described output lifting platform main body to move along described arm swaying direction.The present invention is applicable to the demand of small dimension shaped steel high speed piling.

Description

Many groups palletizing system in parallel
Technical field
The present invention relates to one and the present invention relates to a kind of profile production equipment, a kind of many groups piling system in parallel System.
Background technology
Profile stacking machine is arranged in rear portion, section bar workshop finished product process tail end, for scale profile stacking, to satisfy the criteria Require with the merchant shapes packing specification in market to become buttress to delivery to customer product according to certain pattern pile, in order to realize material Storage, carry, load and unload the logistics activities such as transport.Current profile stacking machine uses hand stowage mode or " running vehicle type " mostly Piling mode, hand stowage mode working strength is big, and required operating worker quantity is many, and cost of labor is big, and inefficiency, code Buttress packaging quality is poor；The row mode of hanging uses automatic stacking system, reduces cost of labor, but has that speed is low, positional precision is poor, work Slow and the anti-interference ability of skill rhythm weak with the difference of section bar continuous rolling process production capacity matching completely etc. shortcoming.
Summary of the invention
For the problems referred to above, the present invention provides a kind of many groups parallel connection palletizing system being applicable to small dimension profile stacking.
For reaching above-mentioned purpose, the present invention many groups parallel connection palletizing system includes Palletizer and output lifting platform；
Described Palletizer includes some frames be arrangeding in parallel, described frame is hinged with by the first jointed shaft and hangs Arm, the lower end of each described arm is connected with crossbeam, and the downside of described crossbeam is fixedly installed some wrists, described wrist by interval Portion has been rotatably connected upset Magnet, described upset Magnet is provided with the clamping mechanism for fixing section bar and for detecting electromagnetism The horizontal detection mechanism of ferrum whether level, each described upset Magnet synchronizes to drive by described Magnet synchronizer, described frame On be provided with drive each described arm motion synchronous drive device；
Wherein, described upset Magnet is electric magnet；Described wrist includes contiguous block, and described contiguous block top and bottom are respectively Extend to both sides and form upper substrate and lower plate；Described electric magnet is rotatably connected with described upper substrate；
Described output lifting platform includes some output lifting platform main bodys and for driving each described output lifting platform main body edge The translation mechanism of described arm swaying direction motion；
Described synchronous drive device includes the synchronizing shaft being rotatably connected along row of racks column direction with each described frame, Tong Bu The some drivings hinged with corresponding arm and rocking bar respectively of rocking bar the most some with arm, two ends it are provided with even on axle The synchronizing shaft drive mechanism that bar and at least one described synchronizing shaft of driving rotate, described rocking bar is with described synchronizing shaft anti-rotation even Connect.
Further, described frame is " Γ " shape frame or " ┤ " shape frame；
Described " Γ " shape frame includes that vertical section and horizontal segment, the rear end of described horizontal segment connect with the top of described vertical section Connect；Described horizontal segment front end is hinged with the top of described arm；
Described " ┤ " shape frame includes that vertical section and horizontal segment, the rear end of described horizontal segment connect with the middle part of described vertical section Connect；Described horizontal segment front end is hinged with the middle part of described arm.
Further, each described upset Magnet and Magnet synchronizer drive connection, described Magnet synchronizer includes edge Magnet synchronizing shaft and at least one the described Magnet of driving that each described wrist orientation is rotatably connected with each described wrist are same The Magnet synchronous drive mechanism that step axle rotates, described Magnet synchronizing shaft is connected with each described upset Magnet Synchronous Transmission.
Further, described wrist is provided with Magnet and drives motor, and described Magnet drives output shaft and the reductor of motor Power shaft connect, the output shaft of described reductor with overturn Magnet be connected.
Further, described output hoistable platform also includes defeated for drive each described output hoistable platform main body to lift Going out synchronous drive device, described output synchronous drive device includes being connected some liters with each described input hoistable platform main body respectively Descending mechanism, respectively retrain some lifting catheters of each described elevating mechanism direction of motion, synchronizing shaft, crossbeam and at least one rise Fall drive mechanism；
Wherein, described synchronizing shaft being provided with some synchromesh gears, described synchronizing shaft is connected with described crossbeam-rotating；Described Each lifting catheter is fixing with described crossbeam to be connected, and described elevating mechanism includes the tooth bar engaged with described synchromesh gear, described liter Fall drive mechanism is connected with input hoistable platform or described elevating mechanism.
Further, described upset electric magnet also includes the Magnetic Control system controlling electric magnet magnetic force size；Described magnetic Draught control system includes the sensor for detecting electric magnet position and controls the control device of electric magnet magnetic force size；Wherein, The positional information output control information of the electric magnet that described control device detects according to the sensor received is to adjust electromagnetism The magnetic force size of ferrum.
Further, the positional information output control of the electric magnet that described control device detects according to the sensor received Information processed to adjust the method for the magnetic force size of electric magnet is: when described upset electromagnet turnover being detected to first phase, Control device control electric magnet magnetic force and be positioned at the first interval；When electric magnet is positioned at other phase places, controls device and control electric magnet It is interval that magnetic force is positioned at second.
The present invention many groups parallel connection palletizing system uses fixing wrist, is not by level detection device detection upset Magnet It is in level, is then overturn by Magnet synchronizer drive magnet, simple in construction, easy to operate, and, by Use fixing wrist in the present invention many groups parallel connection palletizing system, decrease the amount of articulation of mechanical hand, it is possible to fortune is greatly reduced Amount of calculation during Dong, and, the minimizing of amount of articulation can also make mechanical hand avoid the occurrence of error during motion Accumulation.It addition, the present invention carries out the transmission of power by connecting lever, can be passed by the length adjustment of connecting lever two arms The regulation of dynamic ratio, it is also possible to by the angle of the two arms of connecting lever is adjusted realizing the regulation of transmission direction.
For reaching above-mentioned purpose, the present invention many groups parallel connection palletizing system, including Palletizer and output lifting platform；
Described Palletizer includes several frames be arrangeding in parallel, by some hinged with each frame of the first jointed shaft Crossbeam that arm is connected with each described arm lower end, on crossbeam, spaced some wrists and wrist one_to_one corresponding rotate Connect upset Magnet, for drive each described upset Magnet synchronize upset Magnet synchronizer, for drive each described in hang Synchronous drive device that arm is synchronized with the movement, it is arranged between described synchronous drive device and frame or synchronous drive device and arm Compensation device, for being accurately positioned the positioner of described boom position and partly or entirely conduct oneself with dignity for balance oscillating arm And/or the pre-tightening apparatus of load；
Described input lifting platform includes some input lifting platform main bodys, for driving each described input lifting platform main body to synchronize Lifting input synchronous drive device, for be accurately positioned described input lifting platform main body input lifting platform positioner and For stopping the position block of article to be palletized；
Described output lifting platform includes some output lifting platform main bodys, for driving each described output lifting platform main body to synchronize The output synchronous drive device lifted and the output lifting platform positioner being used for being accurately positioned described output lifting platform main body.
Further, described frame is " Γ " shape frame or " ┤ " shape frame；
Described " Γ " shape frame includes that vertical section and horizontal segment, the rear end of described horizontal segment connect with the top of described vertical section Connect；Described horizontal segment front end is hinged with the top of described arm；
Described " ┤ " shape frame includes that vertical section and horizontal segment, the rear end of described horizontal segment connect with the middle part of described vertical section Connect；Described horizontal segment front end is hinged with the middle part of described arm.
Further, described synchronous drive device includes along row of racks column direction synchronization with what each described frame was rotatably connected Axle, to be provided with rocking bar the most some with arm, two ends on synchronizing shaft hinged with corresponding arm and rocking bar respectively The synchronizing shaft drive mechanism that some drive links and at least one described synchronizing shaft of driving rotate, described rocking bar is synchronization with described Axle anti-rotation connects；
Or, described each arm is connected with described first jointed shaft anti-rotation, and described synchronous drive device includes at least one Telescoping mechanism, the two ends of described telescoping mechanism are hinged with described arm and frame respectively.
Further, described compensation device is arranged in frame, and described synchronous drive device is connected with described compensation device；
Described compensation device include the side compensation mount hinged with described frame and with described compensation mount opposite side Hinged compensation drive mechanism；In the middle part of described synchronous drive device and described compensation mount hinged；Described compensation driving means Kinematic accuracy is higher than described synchronous drive device；
Or, described compensation device includes the compensation mount being connected with described housing slide and drives described compensation mount The compensation drive mechanism slided, described synchronous drive device is connected with described compensation mount.
Further, described pre-tightening apparatus include hinged with described frame and the described arm respectively elastic mechanism in two ends with And for regulating the flexible adjustment mechanism of the elastic force of described elastic mechanism；
Described elastic mechanism includes cylinder and the gas bag connected with described cylinder, described flexible adjustment mechanism include source of the gas, For connecting the source of the gas treatment element of source of the gas and gas bag and being arranged on the air gauge on described gas bag；
Or,
Described pre-tightening apparatus includes hinged with described frame and the described arm respectively elastic mechanism in two ends and for adjusting Save the flexible adjustment mechanism of the elastic force of described elastic mechanism；
Described elastic mechanism includes that spring, described flexible adjustment mechanism include for regulating spring and machine frame link position Position adjusting mechanism.
Further, described wrist and described crossbeam are hinged by the second jointed shaft, and described Palletizer also includes wrist Synchronizer, described wrist synchronizer is wrist level maintaining body or wrist attitude-adjusting system；
Described wrist level maintaining body is wrist list connecting rod level-ling mechanism or wrist multi link level-ling mechanism；
Described wrist multi link level-ling mechanism includes at least wrist synchronizing shaft being rotatably connected with arm, at least A piece top links and bottom linkage rod the most some with described wrist, described wrist synchronizing shaft is provided with at least one Master arm and at least one slave arm, the slave arm of the wrist synchronizing shaft that the master arm of described wrist synchronizing shaft is adjacent with top divides The most hinged with transition link, the master arm of the synchronizing shaft of the top is hinged with the bottom of top links, the top of described top links Hold hinged by the 3rd jointed shaft with frame, the slave arm of the described wrist synchronizing shaft of bottom and the top of described bottom linkage rod Hinged, the bottom of described bottom linkage rod and described wrist are hinged by the 4th jointed shaft；The axis institute of described first and third jointed shaft Plane determined by the axis of the plane determined and second, four jointed shafts is horizontal plane, described transition link, top links and The axis of bottom linkage rod is parallel with the axis of described arm；
Described include a transition link be arrangeding in parallel with described arm for wrist list connecting rod level-ling mechanism, described The upper end of transition link and described frame are hinged by the 3rd jointed shaft, the lower end of described transition link by the 4th jointed shaft with Described wrist is hinged, puts down determined by plane determined by the axis of described first and third jointed shaft and described second, four jointed shafts Face is horizontal plane；Described wrist is connected with described second jointed shaft anti-rotation；
Described wrist attitude-adjusting system is wrist list connecting rod attitude-adjusting system or wrist multi link attitude-adjusting system；
Described wrist multi link attitude-adjusting system include at least wrist synchronizing shaft, at least top links and with The most some bottom linkage rods of described wrist are rotatably connected with described first jointed shaft rocking bar and for adjusting described wrist The gesture drive mechanism of portion's attitude；At least one master arm and at least one slave arm, institute it is provided with on described wrist synchronizing shaft The slave arm stating the master arm of the wrist synchronizing shaft wrist synchronizing shaft adjacent with top is hinged with transition link respectively, the top The master arm of synchronizing shaft is hinged with the bottom of top links, and the top of described top links is cut with scissors by the 3rd jointed shaft with rocking bar Connecing, the slave arm of the described wrist synchronizing shaft of bottom is hinged with the top of described bottom linkage rod, the bottom of described bottom linkage rod Hinged by the 4th jointed shaft with described wrist；Plane determined by the axis of described first and third jointed shaft is hinged with second, four Plane determined by the axis of axle is parallel, the axis of described transition link, top links and bottom linkage rod and described arm Axis is parallel；Described gesture drive mechanism drives described top links or the motion of described rocking bar；
Described wrist list connecting rod attitude-adjusting system includes that a transition link be arrangeding in parallel with described arm is with described Rocking bar that first jointed shaft is rotatably connected and drive the gesture drive mechanism of described transition link or described rocking bar, described translation The upper end of connecting rod and described rocking bar are hinged by the 3rd jointed shaft, and the lower end of described transition link and described wrist are by the 4th hinge Spindle is hinged, and plane determined by plane determined by the axis of described first and third jointed shaft and second, four jointed shafts is parallel； Described wrist is connected with described second jointed shaft anti-rotation.
Further, described Magnet synchronizer includes being rotatably connected along each described wrist orientation with each described wrist Magnet synchronizing shaft and at least one drive described Magnet synchronizing shaft rotate Magnet synchronous drive mechanism, described Magnet synchronize Axle is connected with each described upset Magnet Synchronous Transmission.
Further, described positioner is mobile ranging localization mechanism, fixes ranging localization mechanism or angular transducer Detent mechanism；
Described mobile ranging localization mechanism include with arm or crossbeam bottom hinged range measurement mechanism, for keeping described The location-plate that the level-ling mechanism of measuring mechanism level and corresponding described range measurement mechanism kinematic scope are arranged；Described fixed The height of position plate is not less than the peak of described arm bottom motion and the difference of the height of minimum point；When moving in described arm bottom During to peak, the top of the corresponding described location-plate of described range measurement mechanism, when described arm bottom moves to minimum point, The bottom of the corresponding described location-plate of described range measurement mechanism；Or, described location-plate includes location-plate and lower location-plate, when When described arm forward swing moves to terminal, the upside height of the height of range measurement mechanism location-plate on described and downside height Between, when after described arm, pendular motion is to terminal, the height of range measurement mechanism described lower location-plate upside height and Between the height of downside；
Described fixing ranging localization mechanism include with arm or crossbeam bottom hinged location-plate, for keeping described location Vertical maintaining body that plate is vertical and the range measurement mechanism that corresponding described location-plate is arranged；The height of described location-plate is the least Peak and the difference of minimum point height in the motion of described arm bottom；When described arm bottom moves to peak, described The bottom of the corresponding described location-plate of range measurement mechanism, when described arm bottom moves to minimum point, described range measurement machine The top of the corresponding described location-plate of structure；Or, described fixing ranging localization mechanism include with arm or crossbeam bottom hinged determining Position plate, for the range measurement machine keeping the vertical vertical maintaining body of described location-plate and corresponding described location-plate to arrange Structure；Described range measurement mechanism includes measuring mechanism and lower measuring mechanism, and the height of described upper measuring mechanism is at described arm Forward swing moves between the upside height of location-plate during terminal and downside height, and the height of described lower measuring mechanism is at described arm Rear pendular motion is to during terminal between upside height and the downside height of location-plate；
Described angular transducer detent mechanism includes the angular transducer connected by booster engine and the first jointed shaft, described First jointed shaft is connected with the low speed end of described booster engine, and described angular transducer is connected with the speed end of described booster engine, institute Stating each arm to be connected with described first jointed shaft anti-rotation, the angular range of each described arm motion is taken advantage of with the speed increasing ratio of booster engine The long-pending range being not more than described angular transducer.
Further, described input lifting platform positioner is electronic ruler detent mechanism, described electronic ruler detent mechanism bag Include electronic ruler and the location-plate being fixedly installed；Described electronic ruler one end is connected with described input hoistable platform main body, electronic ruler The other end is connected with described location-plate.
Further, described position block is stepped stopper, rotary block, alternately block or translation block；
Wherein, described stepped stopper includes that two-layer ladder, one layer of relatively low ladder are arranged on the direction met to section bar motion, Described two-layer ladder is met and is provided with spacing trigger mechanism on the side of the described section bar direction of motion；
Described rotary block includes column and first and second block being connected with described column；Described first and second block Axis is vertical with described column, and the length of described first block is more than the length of described second block, and described first and second block is remote It is provided with spacing trigger mechanism from the side of described column axis；
Described alternately block includes the forward and backward block being arranged in order along the section bar direction of motion and drives described positive stop liter The block elevating mechanism of fall, said two block is met and is provided with spacing trigger mechanism to the side in the direction of section bar motion；
Described translation block includes motion block and drives described motion block reciprocating along the section bar direction of motion Block translation mechanism, described motion block is met and the side of the section bar direction of motion is provided with spacing trigger mechanism.
Further, if what described input synchronous drive device included being connected with each described input hoistable platform main body respectively Dry elevating mechanism, retrain some lifting catheters of each described elevating mechanism direction of motion, synchronizing shaft, crossbeam and at least respectively Individual lift drive mechanism；
Wherein, described synchronizing shaft being provided with some synchromesh gears, described synchronizing shaft is connected with described crossbeam-rotating；Described Each lifting catheter is fixing with described crossbeam to be connected, and described elevating mechanism includes the tooth bar engaged with described synchromesh gear, described liter Fall drive mechanism is connected with input hoistable platform or described elevating mechanism.
Further, described upset Magnet being provided with section bar clamping mechanism, described section bar clamping mechanism fixes for sliding Mechanism, upset clamping mechanism or lifting clamping mechanism；
Described slip clamping mechanism includes the tooth plate being slidably connected with described Magnet and before and after driving described tooth plate The tooth plate drive mechanism slided, described tooth plate is provided with, along section bar orientation, the fixing breach that section bar is suitable；
Described upset clamping mechanism includes the tooth plate hinged with described Magnet and for the tooth driving described tooth plate to overturn Plate drive mechanism, described tooth plate is provided with the fixing breach suitable with section bar along section bar orientation；
Described lifting clamping mechanism includes the tooth plate being connected with the side slip of described Magnet and drives described tooth plate liter The tooth plate drive mechanism of fall；It is provided with section bar to adaptive fixing breach along section bar orientation on described tooth plate.
Specifically, positioner also includes that motion control mechanism, described motion control mechanism include being arranged on described arm Under in the range of the upper trigger mechanism in the range of rear 1/2 that moves upward, be arranged on that described arm moves downward rear 1/2 Trigger mechanism and with described upper trigger mechanism and the controller of described lower trigger mechanism communication；Described controller and described movement Ranging localization mechanism, fixing ranging localization mechanism and described angular transducer detent mechanism communication, described controller controls described Synchronous drive device and described compensation device；Described upper trigger mechanism and described lower trigger mechanism are proximity switch.
Specifically, described Magnet synchronous drive mechanism is Magnet telescoping drive mechanism, described Magnet synchronizing shaft and described magnetic Tie Tong crosses wrist booster engine and is in transmission connection；Described Magnet telescoping drive mechanism one end is hinged with described wrist, and described Magnet stretches The other end of drive mechanism is hinged with fork, and described fork is connected with Magnet synchronizing shaft anti-rotation；Described wrist booster engine includes setting Put the driving gear on synchronizing shaft, the driven gear being arranged on Magnet and for by the motion transmission of driving gear to from At least one travelling gear of moving gear；Described driven gear is m/n with the speed ratio of driving gear, and wherein, m is the rotation of Magnet Angle, n is the angle that Magnet telescoping drive mechanism drives that fork rotates；
Or described Magnet synchronous drive mechanism is Magnet rotary drive mechanism；Described Magnet rotary drive mechanism includes back Turning hydraulic cylinder or reducing motor, the output shaft of described rotating hydraulic cylinder or reducing motor is connected with described Magnet.
Specifically, described synchronous drive device is arranged on below the horizontal segment of described " ┤ " shape frame, described pre-tightening apparatus Being arranged on above described " ┤ " shape rack level section, described arm is all applied by described synchronous drive device and described pre-tightening apparatus Pulling force；
Or, described synchronous drive device is arranged on above described " ┤ " shape rack level section, and described pre-tightening apparatus is arranged Below described " ┤ " shape rack level section, described synchronous drive device and described pre-tightening apparatus all apply pressure to described arm Power.
Specifically, described wrist is fixing with described crossbeam to be connected, and described Magnet is provided with angle detection mechanism.
Specifically, described output synchronous drive device includes being connected some liters with each described input hoistable platform main body respectively Descending mechanism, respectively retrain some lifting catheters of each described elevating mechanism direction of motion, synchronizing shaft, crossbeam and at least one rise Fall drive mechanism；
Wherein, described synchronizing shaft being provided with some synchromesh gears, described synchronizing shaft is connected with described crossbeam-rotating；Described Each lifting catheter is fixing with described crossbeam to be connected, and described elevating mechanism includes the tooth bar engaged with described synchromesh gear, described liter Fall drive mechanism is connected with input hoistable platform or described elevating mechanism.
Further, described output lifting platform positioner is electronic ruler detent mechanism, described electronic ruler detent mechanism bag Include electronic ruler and the location-plate being fixedly installed；Described electronic ruler one end is connected with described output hoistable platform main body, electronic ruler The other end is connected with described location-plate.
Further, described upset Magnet is upset electric magnet or upset permanent magnet；
Described upset permanent magnet includes fixed magnet and rotary magnet, the rotary shaft of described rotary magnet and described fixing magnetic The line of ferrum two magnetic pole is vertical.
Further, described output hoistable platform also includes translation mechanism, and described translation mechanism drives described output lifting Main platform body is moved along the swaying direction of arm.
Further, described upset electric magnet also includes the Magnetic Control system controlling electric magnet magnetic force size；Described magnetic Draught control system includes the sensor for detecting electric magnet position and controls the control device of electric magnet magnetic force size；Wherein, The positional information output control information of the electric magnet that described control device detects according to the sensor received is to adjust electromagnetism The magnetic force size of ferrum.
Further, the positional information output control of the electric magnet that described control device detects according to the sensor received Information processed to adjust the method for the magnetic force size of electric magnet is: when described upset electromagnet turnover being detected to first phase, Control device control electric magnet magnetic force and be positioned at the first interval；When electric magnet is positioned at other phase places, controls device and control electric magnet It is interval that magnetic force is positioned at second.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of the present invention many groups parallel connection palletizing system；
Fig. 2 is the scheme of installation of the present invention many groups parallel connection palletizing system " Γ " shape frame and synchronous drive device；
Fig. 3 is that the Magnet of the present invention many groups parallel connection palletizing system drives motor and overturns the scheme of installation of Magnet；
Fig. 4 is the scheme of installation of the present invention many groups parallel connection palletizing system " ┤ " shape frame and synchronous drive device；
Fig. 5 is the structural representation of the present invention many groups parallel connection palletizing system；
Fig. 6 is a kind of preferably type of drive schematic diagram of the present invention many groups parallel connection palletizing system；
Fig. 7 is that the present invention many groups parallel connection palletizing system drives rearmounted schematic diagram；
Fig. 8 is the compensation device a kind of preferred compositions mode with driving means of the present invention many groups parallel connection palletizing system；
Fig. 9 is a kind of optimal way of the present invention many groups parallel connection palletizing system pre-tightening apparatus；
Figure 10 is the schematic diagram of the multi link wrist level maintaining body of the present invention many groups parallel connection palletizing system；
Figure 11 is a kind of preferred structure of the present invention many groups parallel connection palletizing system Magnet synchronizer；
Figure 12 is the preferred structure schematic diagram that the present invention many groups parallel connection palletizing system moves ranging localization mechanism；
Figure 13 is the system block diagram of the present invention many groups parallel connection palletizing system positioner；
Figure 14 is the workflow diagram of the present invention many groups parallel connection palletizing system positioner；
Figure 15 is the structural representation of the present invention many groups parallel connection palletizing system translation clamping mechanism；
Figure 16 is that the present invention many groups parallel connection palletizing system uses " ┤ " shape frame homonymy to install synchronous drive device and pretension The structural representation of device；
Figure 17 is that the present invention many groups parallel connection palletizing system uses " ┤ " shape frame heteropleural to install synchronous drive device and pretension The structural representation of device；
Figure 18 is that the present invention many groups parallel connection palletizing system uses telescoping mechanism and single connecting rod wrist attitude-adjusting system Combinative structure schematic diagram；
Figure 19 is the structural representation that the present invention many groups parallel connection palletizing system uses multi link wrist attitude-adjusting system；
Figure 20 is the structural representation that the present invention many groups parallel connection palletizing system uses single connecting rod wrist attitude-adjusting system；
Figure 21 is the structural representation that the present invention many groups parallel connection palletizing system fixes ranging localization mechanism；
Figure 22 is the structural representation of the present invention many groups parallel connection palletizing system angular transducer detent mechanism.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention will be further described.
In the present invention, " front " of frame refers to the frame direction towards hoistable platform, and it is flat that " afterwards " refers to that frame lifts dorsad The direction of platform." front " in motor process refers to the region that first passes through when motion, " afterwards " refer to when moving after through district Territory.
In the present invention, described wrist is for being used for connecting arm and upset Magnet；Or connecting cross beam and the company of upset Magnet Access node structure, described attachment structure be arranged on described upset Magnet both sides two pieces of connecting plates, be arranged on upset Magnet side One piece of connecting plate or other attachment structures.
Embodiment 1
The present invention many groups parallel connection palletizing system includes Palletizer and output lifting platform；
As it is shown in figure 1, described Palletizer includes some frames 1 be arrangeding in parallel, hinged by first in described frame 1 Axle 201 is hinged with arm 2, and the lower end of each described arm 2 is connected with crossbeam, and the downside of described crossbeam is fixedly installed by interval Some wrists 7, described wrist 7 has been rotatably connected and has overturn Magnet 6, described upset Magnet 6 has been provided with the card for fixing section bar Gu mechanism and for detecting the horizontal detection mechanism of electric magnet whether level, each described upset Magnet 6 is synchronized by described Magnet Device 3 synchronizes to drive, and described frame is provided with the synchronous drive device 302 driving the motion of each described arm；
Wherein, described upset Magnet 6 is electric magnet；Described wrist includes that contiguous block, described contiguous block top and bottom divide Do not extend to both sides and form upper substrate and lower plate；Described electric magnet is rotatably connected with described upper substrate；
Described output lifting platform includes some output lifting platform main bodys and for driving each described output lifting platform main body edge The translation mechanism of described arm swaying direction motion；
As in figure 2 it is shown, described synchronous drive device includes along frame 1 orientation same with what each described frame was rotatably connected Step axle 305, be provided with on synchronizing shaft 305 rocking bar 303 the most some with arm, two ends respectively with corresponding arm 2 The synchronizing shaft drive mechanism that the some drive links 301 hinged with rocking bar 303 and at least one described synchronizing shaft of driving rotate, Described rocking bar is connected with described synchronizing shaft anti-rotation.
Described frame is " Γ " shape frame；
Described " Γ " shape frame includes vertical section and horizontal segment, the rear end of described horizontal segment 101 and described vertical section 102 Top connects；Described horizontal segment 101 front end is hinged with the top of described arm 2；
Each described upset Magnet 6 and Magnet synchronizer drive connection, described Magnet synchronizer includes along each described wrist Magnet synchronizing shaft and at least one described Magnet synchronizing shaft of driving that portion's orientation is rotatably connected with each described wrist rotate Magnet synchronous drive mechanism, described Magnet synchronizing shaft is connected with each described upset Magnet Synchronous Transmission.
As it is shown on figure 3, described wrist be provided with Magnet drive motor 606, described Magnet drive motor 606 output shaft with The power shaft of reductor connects, and the output shaft of described reductor is connected with upset Magnet 6.
Described upset electric magnet also includes the Magnetic Control system controlling electric magnet magnetic force size；Described magnetic draught control system Including for detecting the sensor of electric magnet position and controlling the control device of electric magnet magnetic force size；Wherein, described control fills The positional information output control information putting the electric magnet detected according to the sensor that receives is big with the magnetic force adjusting electric magnet Little.
The electric magnet that described control device detects according to the sensor received positional information output control information with The method of the magnetic force size adjusting electric magnet is: when described upset electromagnet turnover being detected to first phase, controls device Control electric magnet magnetic force and be positioned at the first interval；When electric magnet is positioned at other phase places, controls device control electric magnet magnetic force and be positioned at Second is interval.
Under the original state of the present embodiment, described arm driving means 3 makes arm 2 be in plumbness, described upset magnetic Ferrum 6 magnetic pole is downward.
During forward code steel, described synchronizing shaft drive mechanism 3 promotes arm 2 to swing forward, until upset Magnet 6 is positioned at shaped steel Connecing above steel position, then input synchronous drive device drives each input hoistable platform main body to move upward, when input lifting is flat Platform main body moves upward to be suitable to Magnet 6 and draws the position of angle steel, and then Magnet suction 6 takes angle steel, when the absorption angle steel of Magnet, The turning of angle steel fixes in the fixing breach of tooth plate, makes angle steel keep attitude not change, and then synchronous drive device 3 drives Dynamic arm 2 is to output hoistable platform motion, and during until upset Magnet 6 is positioned at above output, output hoistable platform rises to be easy to Magnet 6 puts down the position of angle steel, and now, Magnet 6 puts down angle steel.Level inspection in the motor process of arm, on upset Magnet Survey mechanism to coordinate with Magnet synchronizer, remain the level of upset Magnet.
Carry out reverse code steel subsequently, first need piling section bar to be promoted to the higher steel position that connects by inputting lifting platform, then with Step driving means drives arm 2 forward swing to connecing steel position, and Magnet synchronizer drives upset Magnet 6 to rotate, and makes magnetic pole level Upwards draw angle steel.Owing to angle steel is when code, inShape, during angle steel radix-minus-one complement, is superimposed upon the angle that previous code is good On steel, inShape, the i.e. angle steel of code opening down, the i.e. angle steel of radix-minus-one complement opening up.When angle steel code Time, due to be the closed angle end of angle steel upward, be that single line contacts with Magnet 6, contact area is the least, it is easy on Magnet 6 produce Rollover, so guiding tooth plate must be arranged on Magnet, guides the angle steel of code.But in radix-minus-one complement process subsequently In, guiding tooth plate can interfere with the angle steel of code, it is therefore desirable to make the edge of angle steel contact with horizontal plane, therefore, uses and slides Clamping mechanism, the tooth plate of slip clamping mechanism can slide along electric magnet, it is possible to makes upset Magnet draw angle steel smoothly, overturns magnetic The angle steel of code and radix-minus-one complement drawn smoothly by ferrum.Then input lifting platform moves downward, and angle steel is drawn on Magnet 6, liter to be entered After fall platform leaves upset region, Magnet synchronizer drives and synchronizes Magnet rotation, and upset Magnet 6 reversely rotates 180 °；Then same Step driving means drives each arm 2 synchronous hunting to forward code steel position, when arm swings to forward code steel position, exports lifting platform Main body can translate, and when arm stops at forward code steel position, the angle steel of radix-minus-one complement just can be made to carry out with the angle steel of code Piling, after arm puts in place, overturns Magnet 6 dead electricity, and steel fall on piling lifting platform.
The present embodiment many groups parallel connection palletizing system uses fixing wrist, by level detection device detection upset Magnet is It is not in level, is then overturn by Magnet synchronizer drive magnet, simple in construction, easy to operate, and, Owing to the present embodiment many groups parallel connection palletizing system uses fixing wrist, decrease the amount of articulation of mechanical hand, it is possible to significantly subtract Amount of calculation in few motor process, and, the minimizing of amount of articulation can also make mechanical hand avoid the occurrence of during motion The accumulation of error.It addition, the present embodiment carries out the transmission of power by connecting lever, the length adjustment of connecting lever two arms can be passed through, Carry out the regulation of gear ratio, it is also possible to by the angle of the two arms of connecting lever is adjusted realizing the regulation of transmission direction.
Embodiment 2
As shown in Figure 4, above-mentioned be embodiment on the basis of, on the basis of above-described embodiment, the frame of the present embodiment Selecting " ┤ " shape frame, " ┤ " shape frame includes vertical section 102 and horizontal segment 101, and the rear end of described horizontal segment 101 is perpendicular with described The middle part of straight section 102 connects, and described vertical section 102 is provided with；Described horizontal segment 101 front end is hinged with the middle part of described arm 2.
In the present embodiment, when selecting " ┤ " shape frame, owing to the middle part of arm 2 is hinged with horizontal segment 101, so, arm 2 Top counterweight is formed at bottom, make arm 2 be in close to balance state, when synchronous drive device drive arm 2 time, arm Response speed and movement velocity can greatly promote.The present embodiment can increase substantially the work efficiency of palletizing system.
Embodiment 3
On the basis of above-described embodiment, described output hoistable platform also includes for driving each described output hoistable platform Main body lifting output synchronous drive device, described output synchronous drive device include respectively with each described input hoistable platform master Body connect some elevating mechanisms, respectively retrain some lifting catheters of each described elevating mechanism direction of motion, synchronizing shaft, crossbeam with And at least one lift drive mechanism；
Wherein, described synchronizing shaft being provided with some synchromesh gears, described synchronizing shaft is connected with described crossbeam-rotating；Described Each lifting catheter is fixing with described crossbeam to be connected, and described elevating mechanism includes the tooth bar engaged with described synchromesh gear, described liter Fall drive mechanism is connected with input hoistable platform or described elevating mechanism.
Embodiment 4
As it is shown in figure 5, many groups parallel connection palletizing system of the present embodiment, including Palletizer and output lifting platform；
If described Palletizer includes several frames 1 be arrangeding in parallel, hinged with each frame 1 by the first jointed shaft Crossbeam that dry arm 2 is connected with each described arm 2 lower end, on crossbeam spaced some wrists 7 and wrist 7 one a pair Should be rotatably connected overturns Magnet 6, for driving each described upset Magnet 6 to synchronize the Magnet synchronizer of upset, for driving Synchronous drive device 3 that each described arm 2 is synchronized with the movement, it is arranged on arm driving means and frame or arm driving means and hangs Compensation device 4 between arm, for being accurately positioned the positioner of described arm 2 position and for balance oscillating arm part or complete Portion's deadweight and/or the pre-tightening apparatus of load；
Described input lifting platform includes some input lifting platform main bodys, for driving each described input lifting platform main body to synchronize Lifting input synchronous drive device, for be accurately positioned described input lifting platform main body input lifting platform positioner and For stopping the position block of article to be palletized；
Described output lifting platform includes some output lifting platform main bodys, for driving each described output lifting platform main body to synchronize The output synchronous drive device lifted and the output lifting platform positioner being used for being accurately positioned described output lifting platform main body.
As shown in fig. 6-7, described frame is " Γ " shape frame；Described " Γ " shape frame includes vertical section 102 and horizontal segment 101, described horizontal segment 101 rear end is connected with the top of described vertical section 102, and the front side of described vertical section 102 or rear side are arranged There is drive connection structure；Described horizontal segment 101 front end is hinged with the top of described arm；
Described synchronous drive device includes drive link 301 the most some with each arm and drive link 301 1 Synchronizing shaft 305 that the rocking bar 303 of one correspondence is rotatably connected with drive connection structure and at least one drive described synchronizing shaft The 305 synchronizing shaft drive mechanisms 302 rotated, described rocking bar 303 is connected with described synchronizing shaft 305 anti-rotation, the one of described connecting rod 301 Holding hinged with described rocking bar 303, the other end of described connecting rod 301 is hinged with described arm；One of them rocking bar 303 is connecting lever One arm, synchronizing shaft drive mechanism 302 is electricity cylinder, hydraulic cylinder or cylinder, described electricity cylinder, hydraulic cylinder or the expansion link of cylinder and institute Another arm stating connecting lever is hinged, and the cylinder body of described electricity cylinder, hydraulic cylinder or cylinder is hinged with described frame by compensation device.
Described synchronous drive device is hinged with described frame by described compensation device；
As shown in Figure 8, described compensation device include the compensation mount 401 hinged with described frame and with described compensation at the bottom of Seat 401 is away from the hinged compensation drive mechanism 402 in described frame side；Described synchronous drive device 302 and described compensation mount In the middle part of in the of 401 hinged；The kinematic accuracy of described compensation driving means 402 is higher than described synchronous drive device 302；
As it is shown in figure 9, described pre-tightening apparatus includes the elastic mechanism that two ends are hinged with described frame and described arm respectively And for regulating the flexible adjustment mechanism of the elastic force of described elastic mechanism；
Described elastic mechanism includes cylinder 501 and the gas bag 510 connected with described cylinder, and described flexible adjustment mechanism includes Source of the gas 516, for connecting the source of the gas treatment element 512 of source of the gas 516 and gas bag 510 and be arranged on the gas on described gas bag 510 Pressure table 511；
Described balance cylinder 501 is arranged between swing arm 2 and support body 1, supports swing arm deadweight in swing arm 2 course of action.
Described air supply system includes that source of the gas 516, gas bag 510, air gauge 511, source of the gas process three elements 512, welded still pipe 503 and ball valve 513, described source of the gas 516 processes three elements by reducing joint 515, welded still pipe 514, ball valve 513 and source of the gas Gas bag 510 is inflated by 512 by compressed-air-storing to gas bag 510, manually adjustable ball valve 513, it is possible to regulation gas bag 510 On relief valve exit.
Described gas bag 510 is provided with air gauge 511, can read gas bag 510 atmospheric pressure value in real time；
Described 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.
As shown in Figure 10, described wrist and described crossbeam are hinged by the second jointed shaft 202, and described Palletizer also includes Wrist synchronizer, described wrist synchronizer is wrist multi link level-ling mechanism；Described wrist multi link level keeps Mechanism include 206, at least top links 205 of at least wrist synchronizing shaft being rotatably connected with arm and with described wrist The most some bottom linkage rods 207, described wrist synchronizing shaft 206 is provided with at least one master arm and at least one from Swing arm, the slave arm of the wrist synchronizing shaft 206 that the master arm of described wrist synchronizing shaft 206 is adjacent with top respectively with transition link Hinged, the master arm of the synchronizing shaft of the top is hinged with the bottom of top links 205, the top of described top links 205 and machine Frame is hinged by the 3rd jointed shaft 203, the slave arm of the described wrist synchronizing shaft 206 of bottom and described bottom linkage rod 207 Top is hinged, and the bottom of described bottom linkage rod 207 and described wrist are hinged by the 4th jointed shaft 204；Described first and third hinged Plane determined by the axis of plane determined by the axis of axle and second, four jointed shafts is horizontal plane, described transition link, top The axis of portion's connecting rod 205 and bottom linkage rod 207 is parallel with the axis of described arm；
As shown in figure 11, described Magnet synchronizer includes rotating even along each described wrist orientation with each described wrist The Magnet synchronous drive mechanism 702 that the Magnet synchronizing shaft 701 connect and at least one described synchronizing shaft 701 of driving rotate, described Magnet synchronizing shaft 701 is connected with each described Magnet Synchronous Transmission；Described Magnet synchronous drive mechanism 702 is Magnet telescopic drive machine Structure 702, described Magnet synchronizing shaft 701 is in transmission connection by wrist booster engine with described Magnet；Described Magnet telescoping drive mechanism 702 one end are hinged with described wrist, and the other end of described Magnet telescoping drive mechanism 702 is hinged with fork, described fork and magnetic Ferrum synchronizing shaft 701 anti-rotation connects；Described wrist booster engine includes the driving gear being arranged on synchronizing shaft 701, is arranged on Magnet On driven gear and for driving gear being transferred at least one travelling gear of driven gear；Described driven gear with The speed ratio of driving gear is 3, and Magnet needs to overturn 180 °, and Magnet telescoping drive mechanism 702 drives fork to rotate 60 °.
As shown in figs. 12-14, described positioner is mobile ranging localization mechanism；Described mobile ranging localization mechanism includes With bottom arm or crossbeam hinged range measurement mechanism, for keeping the level-ling mechanism of described measuring mechanism level and right Answer the location-plate that described range measurement mechanism kinematic scope is arranged；The height of described location-plate 215 is not less than described arm bottom The peak of motion and the difference of the height of minimum point；When described arm bottom moves to peak, described range measurement mechanism The top of corresponding described location-plate 215, when described arm bottom moves to minimum point, described in described range measurement mechanism correspondence The bottom of location-plate 215；Positioner also includes that motion control mechanism, described motion control mechanism include being arranged on described arm Under in the range of the upper trigger mechanism in the range of rear 1/2 that moves upward, be arranged on that described arm moves downward rear 1/2 Trigger mechanism and with described upper trigger mechanism and the controller of described lower trigger mechanism communication；Described controller and described movement The communication of ranging localization mechanism, described controller controls described synchronous drive device and described compensation device；Described upper trigger mechanism It is proximity switch with described lower trigger mechanism.Described range measurement mechanism includes shading protecting box 213 and is arranged on described shading Laser ranging mechanism 214 in protecting box 213；
Described input synchronous drive device includes the some elevator being connected respectively with each described input hoistable platform main body Structure, retrain some lifting catheters of each described elevating mechanism direction of motion, synchronizing shaft, crossbeam and at least one lifting respectively and drive Motivation structure；Wherein, described synchronizing shaft being provided with some synchromesh gears, described synchronizing shaft is connected with described crossbeam-rotating；Described Each lifting catheter is fixing with described crossbeam to be connected, and described elevating mechanism includes the tooth bar engaged with described synchromesh gear, described liter Fall drive mechanism is connected with input hoistable platform or described elevating mechanism.Described input lifting platform positioner is electronic ruler location Mechanism, described electronic ruler detent mechanism includes electronic ruler and the location-plate being fixedly installed；Described electronic ruler one end and described input Hoistable platform main body connects, and the other end of electronic ruler is connected with described location-plate.
Described output synchronous drive device include being connected with each described input hoistable platform main body respectively some elevating mechanisms, Retrain some lifting catheters of each described elevating mechanism direction of motion, synchronizing shaft, crossbeam and at least one lifting respectively to drive Mechanism；Wherein, described synchronizing shaft being provided with some synchromesh gears, described synchronizing shaft is connected with described crossbeam-rotating；Described respectively Lifting catheter is fixing with described crossbeam to be connected, and described elevating mechanism includes the tooth bar engaged with described synchromesh gear, described lifting Drive mechanism is connected with input hoistable platform or described elevating mechanism.
As shown in figure 15, described upset Magnet being provided with section bar clamping mechanism, described section bar clamping mechanism is the card that slides Gu mechanism；Described slip clamping mechanism includes the tooth plate 608 being slidably connected with described Magnet and for driving described tooth plate 608 The tooth plate drive mechanism 607 slided, described tooth plate 608 is provided with, along section bar orientation, the fixing breach that section bar is suitable.
Described upset electric magnet also includes the Magnetic Control system controlling electric magnet magnetic force size；Described magnetic draught control system Including for detecting the sensor of electric magnet position and controlling the control device of electric magnet magnetic force size；Wherein, described control fills The positional information output control information putting the electric magnet detected according to the sensor that receives is big with the magnetic force adjusting electric magnet Little.
The electric magnet that described control device detects according to the sensor received positional information output control information with The method of the magnetic force size adjusting electric magnet is: when described upset electromagnet turnover being detected to first phase, controls device Control electric magnet magnetic force and be positioned at the first interval；When electric magnet is positioned at other phase places, controls device control electric magnet magnetic force and be positioned at Second is interval.
Work process to many groups parallel connection palletizing system of the present embodiment as a example by the palletization of small dimension angle steel below Illustrate:
Under a kind of original state of the present embodiment, described arm driving means 3 makes arm 2 be in plumbness, described in turn over Turn Magnet 6 magnetic pole downward.
During forward code steel, described arm driving means 3 drives connecting lever 303 to rotate, and other rocking bars 303 are by synchronizing shaft 305 Connect synchronous rotary, and then drive drive link 301 to promote arm 2 to swing forward, until upset Magnet 6 is positioned at shaped steel and connects steel position Putting top, then input synchronous drive device drives each input hoistable platform main body to move upward, when input hoistable platform main body Moving upward to be suitable to Magnet 6 and draw the position of angle steel, then Magnet suction 6 takes angle steel, when the absorption angle steel of Magnet, angle steel Turning fixes in the fixing breach of tooth plate 608, makes angle steel keep attitude not change, and then synchronous drive device 3 drives Arm 2 is to output hoistable platform motion, and during until upset Magnet 6 is positioned at above output, output hoistable platform rises to be easy to magnetic Ferrum 6 puts down the position of angle steel, and now, Magnet 6 puts down angle steel.In the motor process of arm, owing to wrist multi link level is protected Hold device and define two parallel four-bar linkages, and the original state of wrist 7 is level, therefore, in whole service During, wrist 7 remains level.
Carry out reverse code steel subsequently, first need piling section bar to be promoted to the higher steel position that connects by inputting lifting platform, then with Step drive mechanism 302 action, drives arm forward swing to connecing steel by connecting lever 303, synchronizing shaft 305, rocking bar 303 and connecting rod 301 Position, Magnet retractable driving device 702 is stretched out subsequently, drives upset synchronizing shaft 701 to rotate, drives upset Magnet 6 by reduction box Rotate, make magnetic pole level upwards draw angle steel.Owing to angle steel is when code, inShape, during angle steel radix-minus-one complement, is superimposed upon On the angle steel that previously code was good, in Shape, the i.e. angle steel of code opening down, the opening court of the i.e. angle steel of radix-minus-one complement On.When angle steel code, due to be the closed angle end of angle steel upward, be that single line contacts with Magnet 6, contact area is the least, it is easy to Magnet 6 produces rollover, so guiding tooth plate 608 must be arranged on Magnet, the angle steel of code is guided.But During radix-minus-one complement subsequently, guiding tooth plate 608 can interfere with the angle steel of code, it is therefore desirable to make the edge of angle steel connect with horizontal plane Touch, therefore need to drive tooth plate 608 to move by tooth plate drive mechanism 607 before drawing angle steel, make edge and the tooth plate of angle steel The straight portion alignment of 608.Then input lifting platform moves downward, and angle steel is drawn on Magnet 6, and lifting platform to be entered leaves and turns over After turning region, Magnet telescoping drive mechanism 702 is retracted, and upset Magnet 6 reversely rotates 180 °；Then synchronous drive device 302 drives Dynamic connecting lever 303 moves, and drives each arm 2 synchronous hunting to reverse code steel by synchronizing shaft 305, rocking bar 303 and connecting rod 301 Position, after arm puts in place, overturns Magnet 6 dead electricity, and steel fall on piling lifting platform.
In the motor process of arm, the pressure in the gas bag 510 of the present embodiment should meet: one, the pushing away of balance cylinder 501 The trimming moment that power produces slightly larger than the maximum load moment of resistance produced of conducting oneself with dignity during swing arm motion, two, gas bag 510 is whole During driving, pressure is basically unchanged.Under the conditions of above-mentioned two, without the effect of drive link, swing arm will be at balance cylinder 501 Thrust lower swing to foremost position, therefore the stress of drive link is become tension from original pressurized, it is to avoid depression bar occur Unstable phenomenon；After swing arm 2 forward swing connects steel, adding the weight of steel, the change of loading moment is conducive to greatly swing arm backswing, the company of driving The pulling force of bar reduces the most therewith；In swing arm 2 course of action, balance cylinder 501 is constantly in thrust rating, drives pull bar always Being in tension state, connection member stress does not commutate, thus eliminates the gap impact of hinged place.Arm is conducive to swing During precision improve.
In the motor process of arm, being positioned the motion latter end of arm by positioner, its process is as follows: During forward swing, arm 2 by synchronous drive device 302 full-speed operation, drives arm 2 rapid movement in the motion beginning period, Arm 2, through upper trigger mechanism, enters motion latter end, and controller obtains arm 2 current location by positioner, and controls Synchronous drive device 302 drives arm to move, and when when being closely located to precalculated position of arm, controller control and compensation device drives Arm 2 moves, and the kinematic accuracy of compensation device is high, and arm so can be made to stop at precalculated position accurately, pendulum after arm 2 Process and the similar process of forward swing.So, the initial segment of motion need not calculate, it is possible to greatly reduces the operand of controller. And at latter end, the position of arm is measured by range measurement mechanism, error is the least, then drives arm by high-precision compensation device Motion, it is possible to make arm stop at precalculated position accurately.
In the motor process of arm, compensation device, in addition to the effect of the above-mentioned kinematic accuracy adjusting arm, also may be used To be used for compensating the stroke of arm, as a example by the piling of angle steel, angle steel is when code, and synchronizing shaft drive mechanism retracts to Extreme position just carries out code to angle steel, but, need arm to move one after moving to code extreme position again during radix-minus-one complement Individual small angle, now, drives arm rearward movement a small distance by compensation device, makes arm arrive the position of radix-minus-one complement Put.
Embodiment 5
As shown in figure 16, with the difference of embodiment 4, the present embodiment is that the present embodiment selects " ┤ " shape frame, " ┤ " Shape frame includes that vertical section 102 and horizontal segment 101, the rear end of described horizontal segment 101 are connected with the middle part of described vertical section 102, Described vertical section 102 is provided with drive connection structure, described drive connection structure be arranged on described horizontal segment 101 top or under Side；Described horizontal segment 101 front end is hinged with the middle part of described arm 2.
In the present embodiment, synchronous drive device and pre-tightening apparatus 5 are all disposed within the lower section of rack level section 101, namely Synchronous drive device and pre-tightening apparatus 5 have been arranged on the homonymy of rack level section 101.When selecting " ┤ " shape frame, due to arm 2 Middle part hinged with horizontal segment 101, so, the top of arm 2 forms counterweight to bottom, make arm 2 be in close to balance shape State, when the power that the weight making a concerted effort to be more than arm 2 bottom that the power that pre-tightening mechanism applies and top counterweight apply applies, arm 2 Can be swung up, the power that now connecting rod 301 is subject to is pulling force, when, after mechanical hand feeding, weight increases, when needing swung downward, Rocking bar 303 drive mechanism 302 bounces back, and pulls arm 2, now connecting rod 301 by the transmission of connecting lever, rocking bar 303 and connecting rod 301 Remaining applying pulling force, thus, arm 2 power of pre-tightening apparatus 5 and synchronous drive device in motor process does not the most commutate, energy Enough eliminate hinge gap.
Certainly, when choosing " ┤ " shape frame, as shown in figure 17, it is also possible to select synchronous drive device is arranged on horizontal segment Above in the of 101, pre-tightening apparatus 5 is arranged on below horizontal segment 101, or, synchronous drive device is arranged on horizontal segment 101 times Side, is arranged on pre-tightening apparatus 5 below horizontal segment 101, and in this case, the power of connecting rod 301 and pre-tightening apparatus 5 also will not be changed To, and both forces are pulling force or pressure simultaneously.
Embodiment 6
On the basis of embodiment 4 and embodiment 5, as shown in figure 18, driving means is replaced by telescopic machine by the present embodiment Structure 304, described each arm is connected with described first jointed shaft 201 anti-rotation, and the two ends of described telescoping mechanism 304 are hung with described respectively Arm and frame are hinged.
In the present embodiment, each arm is connected with described first jointed shaft 201 anti-rotation, is then driven by telescoping mechanism 304 Move one of them or several arm 2 moves, be now connected with described first jointed shaft 201 anti-rotation due to each arm 2, because of This, each arm 2 also is able to be synchronized with the movement.Employing telescoping mechanism 304 is directly driven arm 2 to move by the present embodiment, does not passes Dynamic, it is possible to reduce the energy expenditure in transmission process, improve energy conversion efficiency.
Embodiment 7
On the basis of above-described embodiment, described pre-tightening apparatus can also use following structure: described elastic mechanism includes Spring, described flexible adjustment mechanism includes the position adjusting mechanism for regulating spring and machine frame link position.
Employing spring in the present embodiment is as elastic mechanism, and regulates pretension by the distance between regulation both ends of the spring The elastic force of mechanism, easy for installation.
Embodiment 8
On the basis of above-described embodiment, when shaped steel needs angle certain to upset in palletization, need by Wrist level maintaining body is replaced by wrist attitude regulation mechanism, and as shown in figure 19, described wrist attitude regulation mechanism can select Select wrist multi link attitude regulation mechanism, described wrist multi link attitude-adjusting system include at least wrist synchronizing shaft 206, At least top links 205 and bottom linkage rod the most some with described wrist 207 and described first jointed shaft 201 Be rotatably connected rocking bar 229 and for adjusting the gesture drive mechanism 208 of described wrist attitude；On described wrist synchronizing shaft 206 It is provided with at least one master arm and at least one slave arm, the wrist that the master arm of described wrist synchronizing shaft 206 is adjacent with top The slave arm of portion's synchronizing shaft 206 is hinged with transition link respectively, the master arm of the synchronizing shaft of the top and the end of top links 205 Holding hinged, the top of described top links 205 and rocking bar 229 are hinged by the 3rd jointed shaft 203, and the described wrist of bottom is same The slave arm of step axle 206 is hinged with the top of described bottom linkage rod 207, and the bottom of described bottom linkage rod 207 leads to described wrist 7 Cross the 4th jointed shaft 204 hinged；Plane determined by the axis of described first and third jointed shaft and the axis of second, four jointed shafts Determined by plane parallel, the axle of the axis of described transition link, top links 205 and bottom linkage rod 207 and described arm 2 Line is parallel；Described gesture drive mechanism 208 drives described top links 205 or described rocking bar 229 to move.
When shaped steel needs to carry out angle upset in palletization, use the scheme of the present embodiment, in the present embodiment, energy Enough drivings by one or several wrist gesture drive mechanism 208, make the attitude of all wrists 7 synchronize to be adjusted, it is possible to Make the attitude that the total length of shaped steel all maintains like, situation at random will not occur.Owing to the present embodiment using multiple parallel four Linkage carries out transmission, therefore, it can determine transition link, bottom linkage rod 205 and the length of top links 207 as required , there is strut buckling in such manner, it is possible to avoid the occurrence of to be in course of adjustment, the situation that equipment is destroyed in degree.
When the length of arm 2 is shorter, it is also possible to use wrist list connecting rod attitude regulation mechanism, as shown in Figure 20 and 18, Described wrist list connecting rod attitude-adjusting system includes a transition link 209 be arrangeding in parallel with described arm and described first Rocking bar that jointed shaft 201 is rotatably connected and drive the gesture drive mechanism 208 of described transition link 209 or described rocking bar 229, The upper end of described transition link 209 is hinged by the 3rd jointed shaft 203 with described rocking bar 229, the lower end of described transition link 209 Hinged by the 4th jointed shaft 204 with described wrist 7, plane and second, four determined by the axis of described first and third jointed shaft Determined by jointed shaft, plane is parallel；Described wrist 7 is connected with described second jointed shaft 202 anti-rotation.
Said structure uses a parallel four-bar linkage, owing to wrist 7 is connected with described second jointed shaft 202 anti-rotation, Therefore, the pose adjustment of each wrist 7 also is able to synchronously complete.Further, transmission link is few, it is possible to reduce the long-pending of machine error Tired, it is also possible to reduce the energy expenditure in transmission process.
Same, when arm 2 is shorter, wrist level maintaining body can also use wrist list connecting rod level to keep machine Structure, described includes a transition link be arrangeding in parallel with described arm, described translation for wrist list connecting rod level-ling mechanism The upper end of connecting rod and described frame are hinged by the 3rd jointed shaft, and the 4th jointed shaft is passed through with described in the lower end of described transition link Wrist is hinged, and plane determined by plane determined by the axis of described first and third jointed shaft and described second, four jointed shafts is Horizontal plane；Described wrist is connected with described second jointed shaft anti-rotation.
Said structure one parallel four-bar linkage of employing, owing to wrist is connected with described second jointed shaft anti-rotation, therefore, Each wrist can synchronize holding level.It is similarly, few due to transmission link, it is possible to reduce the accumulation of machine error, it is also possible to Reduce the energy expenditure in transmission process.
Embodiment 9
On the basis of above-described embodiment, it is also possible to described mobile ranging localization mechanism is replaced with fixing ranging localization machine Structure, as shown in figure 21, described fixing ranging localization mechanism include with arm or crossbeam bottom hinged location-plate 215, for protecting Hold the vertical vertical maintaining body of described location-plate 215 and the range measurement mechanism of corresponding described location-plate 215 setting；Described Range measurement mechanism includes shading protecting box 213 and the laser ranging mechanism 214 being arranged in shading protecting box 213, described fixed The height of position plate 215 is not less than the peak of described arm bottom motion and the difference of minimum point height；When described arm bottom is transported When moving peak, the bottom of the corresponding described location-plate 215 of described range measurement mechanism, when described arm bottom moves to minimum During point, the top of the corresponding described location-plate 215 of described range measurement mechanism.Said structure also be able to by measure arm lower end with The distance of a certain fixing point is accurately positioned the position of arm.
It is of course also possible to positioned the position of arm by the anglec of rotation measuring arm, now it is accomplished by using angle Sensor positioning mechanism, as shown in figure 22, described angular transducer detent mechanism includes by booster engine 210 and the first jointed shaft The angular transducer 212 connected, the housing of described angular transducer 212 is arranged on rotating base 211, described rotating base 211 are rotatably connected with shell or the first jointed shaft, described rotating base 211 is provided with rotating base 211 is locked at shell Or the locking device that first on jointed shaft, described first jointed shaft is connected with the low speed end of described booster engine 210, and described angle passes Sensor 212 is connected with the speed end of described booster engine 210, and described each arm is connected with described first jointed shaft anti-rotation, each described The angular range of arm motion is not more than the range of described angular transducer 212 with the product of the speed increasing ratio of booster engine 210.Above-mentioned First jointed shaft is connected with angular transducer 212 by structure by speeder, when the first jointed shaft rotates an angle, increases Speed variator, is strengthened the expanded range of the measuring section of angular transducer 212 dividing of angular transducer 212 with this indirectly by speedup Resolution.When mechanical hand swings, its mechanical movement is rotated around the axle of arm end, is dynamically connected with regard to band simultaneously Booster engine 210 on axle runs.If swing arm traffic coverage is [0, A], after being amplified by booster engine 210 speed ratio k, booster engine 210 Speed end traffic coverage is really [0, kA].If sensor resolution is B, owing to sensor is connected to booster engine 210 speed end, So the Measurement Resolution of booster engine 210 speed end is B, and the Measurement Resolution of booster engine 210 low speed end is B/k, namely Saying, the measurement apparatus that the present invention proposes, the resolution measured for swing arm is B/k, and precision improves k times.
Embodiment 10
On the basis of above-described embodiment, the clamping mechanism of upset Magnet also has two kinds of feasible structures: overturn fixing machine Structure or lifting clamp fixing structure.
Described upset clamping mechanism includes the tooth plate hinged with described Magnet and for the tooth driving described tooth plate to overturn Plate drive mechanism, described tooth plate is provided with the fixing breach suitable with section bar along section bar orientation；When needs tooth plate enters When row fixes, tooth plate drive mechanism drives described tooth plate to downwardly turn over, and makes the breach that fixes of tooth plate be arranged on the downside of Magnet, this Time, it is possible to fixing section bar, when need not fix section bar, tooth plate drive mechanism drives tooth plate to be flipped up, and is turned to The top of Magnet lower limb, so, does not affect the Magnet absorption to shaped steel.
Described lifting clamping mechanism includes the tooth plate being connected with the side slip of described Magnet and drives described Magnet liter The tooth plate drive mechanism of fall；It is provided with section bar to adaptive fixing breach along section bar orientation on described tooth plate.Work as needs When tooth plate fixes section bar, tooth plate driving means drives described tooth plate to decline, makes the breach that fixes of tooth plate spill the following of Magnet Edge, when need not tooth plate and fixing section bar, tooth plate drive mechanism drives described tooth plate to ramp up, and makes the fixing breach of tooth plate be raised to The top of Magnet lower limb, does not the most affect the Magnet absorption to section bar.
Embodiment 11
In the above-described embodiments, clamp needs the reason translating, overturning or lift to be owing to angle steel is when code, inShape, during angle steel radix-minus-one complement, is superimposed upon on the angle steel that previous code is good, inShape, code i.e. angle Steel opening down, the i.e. angle steel of radix-minus-one complement opening up.When angle steel code, due to be the closed angle end of angle steel upward, and Magnet Being single line contact, contact area is the least, it is easy to produce rollover on Magnet 6, so guiding tooth plate must be arranged on Magnet, The angle steel of code is guided.But during radix-minus-one complement subsequently, guiding tooth plate can interfere with the angle steel of code, therefore needs The edge of angle steel to be made contacts with horizontal plane, therefore needs to drive tooth plate to move by tooth plate drive mechanism before drawing angle steel, The edge of angle steel is made to align with the straight portion of tooth plate.If the angle steel of code and radix-minus-one complement is entered on input hoistable platform respectively Row stops, makes the angle steel just wedge angle of code align with the breach of tooth plate, and the angle steel of radix-minus-one complement just edge and tooth plate is straight Section alignment, so, avoids the need for driving tooth plate to move, and the angle steel of code to be made and radix-minus-one complement stops on input hoistable platform Position difference can be realized by the block of following several structures.:
Stepped stopper: include that two-layer ladder, one layer of relatively low ladder are arranged on the side met to section bar motion, described two-layer rank Ladder is met and is provided with spacing trigger mechanism on the side of the described section bar direction of motion；Being shaped as of this block is stepped, code Angle steel is stopped by the ladder of top, and the angle steel of radix-minus-one complement is stopped by the ladder of lower section, or radix-minus-one complement angle steel passes through The ladder of top stops, the angle steel of code is stopped by the ladder of lower section, in such manner, it is possible to make the angle of code and radix-minus-one complement Steel stop place on input hoistable platform is different.
Rotary block: include column and first and second block being connected with described column；The axle of described first and second block Line is vertical with described column, the length of described first block more than the length of described second block, described first and second block away from The side of described column axis is provided with spacing trigger mechanism；This block is aligned respectively by two blocks that length is different The angle steel of code and radix-minus-one complement stops, code so can be made different with the stop place of the angle steel of radix-minus-one complement.
Alternately block: include the forward and backward block being arranged in order along the section bar direction of motion and drive described positive stop to lift Block elevating mechanism, said two block is met and is provided with spacing trigger mechanism to the side in direction of section bar motion；Pass through The different block in two positions stops the angle steel of code and radix-minus-one complement respectively, also is able to equally make the angle steel of code and radix-minus-one complement rest on Different positions.
Translation block: include motion block and drive described motion block along the reciprocating block of the section bar direction of motion Translation mechanism, described motion block is met and the side of the section bar direction of motion is provided with spacing trigger mechanism；The present embodiment is by gear The translation of block, same block moves to different positions to be stopped the angle steel of code and radix-minus-one complement respectively, in such manner, it is possible to will The angle steel of code and radix-minus-one complement is blocked in different positions.
Above-mentioned block not only makes tooth plate not interfere angle steel, due to arm either code or radix-minus-one complement, its forward swing The position connecing steel is all identical, when the stop place difference of angle steel, when arm swings to positive code position after connecing steel, and angle steel pair The position answered the most just differs.The distance between distance and code angle steel and radix-minus-one complement angle steel between two positions that angle steel stops It is equal, so that it may so that arm rests on same position and realizes code and radix-minus-one complement every time.
Embodiment 12
Similar to Example 11, it is also possible to arranging translation mechanism on output hoistable platform, described translation mechanism drives defeated Go out hoistable platform main body to move along the swaying direction of arm.So, displacement and the code of output hoistable platform main body are controlled With distance between the angle steel of radix-minus-one complement is equal, it is possible to so that arm rests on same position and just can realize code and anti-every time Code.
Embodiment 13
On the basis of above-described embodiment, wrist can also be fixedly connected on crossbeam, and Magnet is provided with angle detection Mechanism, so, by the angle that angle detection mechanism detection Magnet is current, and, driven each by Magnet synchronous drive mechanism Magnet synchronizes upset, it is also possible to make Magnet reach predetermined angle.
Above, only presently preferred embodiments of the present invention, but protection scope of the present invention is not limited thereto, any it is familiar with basis Those skilled in the art in the technical scope that the invention discloses, the change that can readily occur in or replacement, all should contain Within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain that claim is defined.

Claims (8)

1. the palletizing system in parallel of group more than a kind, it is characterised in that: include Palletizer and output lifting platform；
Described Palletizer includes some frames be arrangeding in parallel, described frame is hinged with arm by the first jointed shaft, respectively The lower end of described arm is connected with crossbeam, and the downside of described crossbeam is fixedly installed some wrists by interval, and described wrist revolves Turn connection and have upset Magnet, described upset Magnet is provided with the clamping mechanism for fixing section bar and for detecting electric magnet is The horizontal detection mechanism of no level, each described upset Magnet synchronizes to drive by described Magnet synchronizer, described frame sets It is equipped with the synchronous drive device driving the motion of each described arm；
Wherein, described upset Magnet is electric magnet；Described wrist includes contiguous block, and described contiguous block top and bottom are respectively to two Side extends and forms upper substrate and lower plate；Described electric magnet is rotatably connected with described upper substrate；
Described output lifting platform includes some output lifting platform main bodys and for driving each described output lifting platform main body along described The translation mechanism of arm swaying direction motion；
Described synchronous drive device includes the synchronizing shaft being rotatably connected along row of racks column direction with each described frame, on synchronizing shaft Be provided with rocking bar the most some with arm, two ends some drive links hinged with corresponding arm and rocking bar respectively with And at least one drives the synchronizing shaft drive mechanism that described synchronizing shaft rotates, described rocking bar is connected with described synchronizing shaft anti-rotation.
2. the most groups palletizing system in parallel, it is characterised in that: described frame is " Γ " shape frame or " ┤ " shape Frame；
DescribedShape frame includes that vertical section and horizontal segment, the rear end of described horizontal segment are connected with the top of described vertical section； Described horizontal segment front end is hinged with the top of described arm；
Described " ┤ " shape frame includes that vertical section and horizontal segment, the rear end of described horizontal segment are connected with the middle part of described vertical section； Described horizontal segment front end is hinged with the middle part of described arm.
3. the most groups palletizing system in parallel, it is characterised in that: each described upset Magnet and Magnet synchronizer Drive connection, described Magnet synchronizer includes that the Magnet being rotatably connected with each described wrist along each described wrist orientation is same The Magnet synchronous drive mechanism that step axle and at least one described Magnet synchronizing shaft of driving rotate, described Magnet synchronizing shaft and each institute State upset Magnet Synchronous Transmission to connect.
4. the most groups palletizing system in parallel, it is characterised in that: described wrist is provided with Magnet and drives motor, Described Magnet drives the output shaft of motor to be connected with the power shaft of reductor, and the output shaft of described reductor is with upset Magnet even Connect.
5. the most groups palletizing system in parallel, it is characterised in that: described output hoistable platform also includes for driving The output synchronous drive device of dynamic each described output hoistable platform main body lifting, described output synchronous drive device include respectively with Each described input hoistable platform main body connects some elevating mechanisms, retrains some liters of each described elevating mechanism direction of motion respectively Fall conduit, synchronizing shaft, crossbeam and at least one lift drive mechanism；
Wherein, described synchronizing shaft being provided with some synchromesh gears, described synchronizing shaft is connected with described crossbeam-rotating；Described each liter Fall conduit is fixing with described crossbeam to be connected, and described elevating mechanism includes the tooth bar engaged with described synchromesh gear, and described lifting is driven Motivation structure is connected with input hoistable platform or described elevating mechanism.
6. the most groups palletizing system in parallel, it is characterised in that: described upset electric magnet also includes controlling electromagnetism The Magnetic Control system of ferromagnetic power size；Described magnetic draught control system includes the sensor for detecting electric magnet position and control The control device of electric magnet magnetic force size；Wherein, the electric magnet that described control device detects according to the sensor received Positional information output control information is to adjust the magnetic force size of electric magnet.
7. the most groups palletizing system in parallel, it is characterised in that: described control device is according to the sensing received The positional information output control information of the electric magnet that device detects to adjust the method for the magnetic force size of electric magnet is: when detecting When described upset electromagnet turnover is to first phase, controls device control electric magnet magnetic force and be positioned at the first interval；When electric magnet position When other phase places, control device control electric magnet magnetic force and be positioned at the second interval.
8. the palletizing system in parallel of group more than a kind, it is characterised in that: include Palletizer and output lifting platform；
Described Palletizer is included several frames be arrangeding in parallel, is hung by some hinged with each frame of the first jointed shaft Crossbeam that arm is connected with each described arm lower end, on crossbeam, spaced some wrists and wrist one_to_one corresponding rotate even Connect overturns Magnet, for driving each described upset Magnet to synchronize the Magnet synchronizer of upset, for driving each described arm The synchronous drive device that is synchronized with the movement, it is arranged between described synchronous drive device and frame or synchronous drive device and arm Compensation device, for be accurately positioned the positioner of described boom position and partly or entirely conduct oneself with dignity for balance oscillating arm and/ Or the pre-tightening apparatus of load；
Described input lifting platform includes some input lifting platform main bodys, for driving each described input lifting platform main body synchronization lifting Input synchronous drive device, for be accurately positioned described input lifting platform main body input lifting platform positioner and for Stop the position block of article to be palletized；
Described output lifting platform includes some output lifting platform main bodys, for driving each described output lifting platform main body synchronization lifting Output synchronous drive device and for being accurately positioned the output lifting platform positioner of described output lifting platform main body.
CN201610798825.1A 2016-08-31 2016-08-31 Many groups palletizing system in parallel Pending CN106276269A (en)

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CN109516225A (en) * 2018-11-22 2019-03-26 青岛固拓自动化设备有限公司 A kind of automatic destacking apparatus
CN116253152A (en) * 2023-05-15 2023-06-13 山东省青腾机械科技有限公司 Material transportation system with lifting function

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CN203582016U (en) * 2013-11-15 2014-05-07 江阴大地装备股份有限公司 Stacking device
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CN109516225A (en) * 2018-11-22 2019-03-26 青岛固拓自动化设备有限公司 A kind of automatic destacking apparatus
CN116253152A (en) * 2023-05-15 2023-06-13 山东省青腾机械科技有限公司 Material transportation system with lifting function

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Application publication date: 20170104