CN106315235B

CN106315235B - The multiple groups parallel high-speed palletizing system of tape travel compensation

Info

Publication number: CN106315235B
Application number: CN201610798218.5A
Authority: CN
Inventors: 徐峰; 卫卫; 王俊; 石海军; 方田; 徐云辉; 孙斌; 阮祥伟; 李博宇; 郝峰
Original assignee: Huatian Engineering and Technology Corp MCC
Current assignee: Huatian Engineering and Technology Corp MCC
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2019-05-24
Anticipated expiration: 2036-08-31
Also published as: CN106315235A

Abstract

The present invention discloses a kind of multiple groups parallel high-speed palletizing system of tape travel compensation, including input lifting platform, Palletizer and output lifting platform；Palletizer includes several racks disposed in parallel, boom is hinged with by the first articulated shaft in rack, the lower end of each boom is connect with crossbeam, and the downside of crossbeam is hinged with several wrists by the second articulated shaft interval, wrist rotation is connected with overturning magnet, overturns and is provided with clamping mechanism on magnet；The synchronous drive device for driving each boom movement is provided in rack, synchronous drive device is connect by compensation device with rack, and wrist keeps horizontal by wrist level holding mechanism；Compensation device includes side and the hinged compensation mount of rack and the compensation driving mechanism hinged with the compensation mount other side；It is hinged in the middle part of synchronous drive device and compensation mount；The kinematic accuracy for compensating driving device is higher than synchronous drive device.The present invention improves the running precision of boom by compensation device and extends the movement travel of boom.

Description

The multiple groups parallel high-speed palletizing system of tape travel compensation

Technical field

The present invention relates to one kind the present invention relates to a kind of profile production equipment, and specifically a kind of tape travel compensates more Group parallel high-speed palletizing system.

Background technique

Profile stacking machine is arranged in profile workshop rear portion finished product process tail end, scale profile stacking is used for, to satisfy the criteria It requires according to certain mode pile into pile with the merchant shapes packing specification in market to delivery to customer product, to realize material Storage, carrying, handling transport etc. logistics activities.Current profile stacking machine mostly uses greatly hand stowage mode or " running vehicle type " Stacking mode, hand stowage mode great work intensity, required operating worker quantity is more, and cost of labor is big, and working efficiency is low, code Pile packaging quality is poor；Row hangs mode using automatic stacking system, reduces cost of labor, but that there are speed is low, position precision is poor, work The disadvantages of skill rhythm is slow and anti-interference ability is weak poor with all fronts profile continuous rolling process production capacity matching.

Summary of the invention

In view of the above-mentioned problems, the present invention provides a kind of multiple groups parallel connection that the tape travel suitable for small dimension fashioned iron stacking compensates High speed piling system.

In order to achieve the above objectives, the multiple groups parallel high-speed palletizing system of tape travel compensation of the present invention, including input lifting platform, Palletizer and output lifting platform；

The Palletizer includes several racks disposed in parallel, is hinged with and is hung by the first articulated shaft in the rack The lower end of arm, each boom is connect with crossbeam, and the downside of the crossbeam is hinged with several wrists by the second articulated shaft interval, The wrist rotation is connected with overturning magnet, and the clamping mechanism for fixing profile is provided on the overturning magnet；The machine Be provided with the synchronous drive device for driving each boom movement on frame, the synchronous drive device by compensation device with it is described Rack connection, the wrist keep horizontal by wrist level holding mechanism；The wrist includes link block, on the link block End and lower end extend to form upper substrate and lower plate to two sides respectively；The overturning magnet and upper substrate rotation connect；

The compensation device include side and the hinged compensation mount of the rack and with the compensation mount other side Hinged compensation driving mechanism；It is hinged in the middle part of the synchronous drive device and the compensation mount；The compensation driving device Kinematic accuracy is higher than the synchronous drive device.

Further, the synchronous drive device includes synchronous with each rack rotation connection along rack orientation Axis is provided with that several rocking bars, both ends are hinged with corresponding boom and rocking bar respectively correspondingly with boom on synchronizing shaft Several drive links and at least one drive synchronizing shaft driving mechanism of synchronizing shaft rotation, the rocking bar with it is described synchronous The connection of axis anti-rotation.

Further, the profile clamping mechanism is sliding clamping mechanism, overturning clamping mechanism or lifting clamping mechanism；

The sliding clamping mechanism includes the tooth plate being slidably connected with the magnet and for before and after driving the tooth plate The tooth plate driving mechanism of sliding is provided with the compatible fixing notch of profile along profile orientation on the tooth plate；

The overturning clamping mechanism includes the tooth plate hinged with the magnet and the tooth for driving the tooth plate overturning Plate driving mechanism is provided with fixing notch compatible with profile along profile orientation on the tooth plate；

The lifting clamping mechanism includes the tooth plate being slidably connected with the side of the magnet and the driving tooth plate liter The tooth plate driving mechanism of drop；It is provided with profile along profile orientation to the fixing notch being adapted on the tooth plate.

Further, the wrist level holding mechanism include at least one and boom rotation connection wrist synchronizing shaft, At least one top links and with the wrist several bottom linkage rods correspondingly, be provided at least on the wrist synchronizing shaft One master arm and at least one slave arm, the master arm of the wrist synchronizing shaft wrist synchronizing shaft adjacent with top it is driven Arm is hinged with transition link respectively, and the master arm of the synchronizing shaft of the top and the bottom end of top links are hinged, the top links Top and rack it is hinged by third articulated shaft, the slave arm of the wrist synchronizing shaft of bottom and the bottom linkage rod Top is hinged, and the bottom end of the bottom linkage rod is hinged by the 4th articulated shaft with the wrist；The axis of first and third articulated shaft Plane determined by the axis of plane determined by line and second, four articulated shafts is horizontal plane, the transition link, top links And the axis of bottom linkage rod is parallel with the axis of the boom.

Further, the Palletizer further includes the magnet synchronizing device for driving each overturning magnet, described Magnet synchronizing device includes magnet synchronizing shaft along each wrist orientation and the rotation connection of each wrist and at least The magnet synchronous drive mechanism of one driving magnet synchronizing shaft rotation, the magnet synchronizing shaft and each overturning magnet are same Step transmission connection.

Further, the overturning electromagnet further includes the magnetic force control system for controlling electromagnet magnetic force size；The magnetic Draught control system includes for detecting the sensor of electromagnet position and controlling the control device of electromagnet magnetic force size；Wherein, The location information output control information for the electromagnet that the control device is detected according to the sensor received is to adjust electromagnetism The magnetic force size of iron.

Further, the location information for the electromagnet that the control device is detected according to the sensor received exports control Method of the information processed to adjust the magnetic force size of electromagnet are as follows: when detecting the overturning electromagnet turnover to first phase, Control device control electromagnet magnetic force is located at first interval；When electromagnet is located at other phases, control device controls electromagnet Magnetic force is located at second interval.

The boom driving device of the multiple groups parallel high-speed palletizing system of tape travel compensation of the present invention is for driving swing arm normal It swings, stroke compensating device is used for the compensation of the minute angle of the kinematic accuracy beyond boom driving device.Tape travel of the present invention The compensation device of the multiple groups parallel high-speed palletizing system of compensation can also be used to the stroke of compensation synchronous drive device.Inventive belt row Control system can be effectively reduced to the control difficulty of big stroke driving device in the multiple groups parallel high-speed palletizing system of journey compensation, protects The position precision of profile steel stacker is demonstrate,proved, field adjustable difficulty is reduced.

The Palletizer includes several racks disposed in parallel, by hinged several of the first articulated shaft and each rack Boom, the crossbeam connecting with each boom lower end, spaced several wrists and wrist are corresponded and are rotated on crossbeam The overturning magnet of connection, the magnet synchronizing device for driving the synchronous overturning of each overturning magnet, for driving each described hang Synchronous drive device that arm moves synchronously is arranged between the synchronous drive device and rack or synchronous drive device and boom Compensation device, the positioning device for being accurately positioned the boom position and be partly or entirely self-possessed for balance oscillating arm And/or the pre-tightening apparatus of load；

The input lifting platform includes several input lifting platform main bodys, for driving each input lifting platform main body synchronous The input synchronous drive device of lifting, for be accurately positioned it is described input lifting platform main body input lifting platform positioning device and For stopping the position block of article to be palletized；

The output lifting platform includes several output lifting platform main bodys, for driving each output lifting platform main body synchronous The output synchronous drive device of lifting and for be accurately positioned it is described output lifting platform main body output lifting platform positioning device.

Further, the rack be "" shape rack or " ┤ " shape rack；

Described "" shape rack includes vertical section and horizontal segment, the top of the rear end of the horizontal segment and the vertical section connects It connects；The horizontal segment front end and the top of the boom are hinged；

" ┤ " the shape rack includes vertical section and horizontal segment, is connected in the middle part of the rear end of the horizontal segment and the vertical section It connects；The horizontal segment front end and the middle part of the boom are hinged.

Further, the synchronous drive device includes synchronous with each rack rotation connection along rack orientation Axis is provided with that several rocking bars, both ends are hinged with corresponding boom and rocking bar respectively correspondingly with boom on synchronizing shaft Several drive links and at least one drive synchronizing shaft driving mechanism of synchronizing shaft rotation, the rocking bar with it is described synchronous The connection of axis anti-rotation；

Alternatively, each boom is connect with the first articulated shaft anti-rotation, the synchronous drive device includes at least one Telescoping mechanism, the both ends of the telescoping mechanism are hinged with the boom and rack respectively.

Further, the compensation device is arranged on the rack, and the synchronous drive device is connect with the compensation device；

The compensation device include side and the hinged compensation mount of the rack and with the compensation mount other side Hinged compensation driving mechanism；It is hinged in the middle part of the synchronous drive device and the compensation mount；The compensation driving device Kinematic accuracy is higher than the synchronous drive device；

Alternatively, the compensation device includes the compensation mount connecting with the housing slide and the driving compensation mount The compensation driving mechanism of sliding, the synchronous drive device are connect with the compensation mount.

Further, the pre-tightening apparatus include both ends respectively the elastic mechanism hinged with the rack and the boom with And the flexible adjustment mechanism of the elastic force for adjusting the elastic mechanism；

The elastic mechanism includes cylinder and the gas bag that is connected to the cylinder, the flexible adjustment mechanism include gas source, Air gauge for being connected to the gas source processing element of gas source and gas bag and being arranged on the gas bag；

Alternatively,

The pre-tightening apparatus includes both ends respectively with the rack and the hinged elastic mechanism of the boom and for adjusting Save the flexible adjustment mechanism of the elastic force of the elastic mechanism；

The elastic mechanism includes spring, and the flexible adjustment mechanism includes for adjustment spring and machine rack link position Position adjusting mechanism.

Further, the wrist is hinged by the second articulated shaft with the crossbeam, and the Palletizer further includes wrist Synchronizing device, the wrist synchronizing device are wrist level holding mechanism or wrist attitude-adjusting system；

The wrist level holding mechanism is wrist single connecting rod level-ling mechanism or wrist multi link level-ling mechanism；

The wrist multi link level-ling mechanism includes the wrist synchronizing shaft, at least of at least one and boom rotation connection A piece top links and with the wrist several bottom linkage rods correspondingly, be provided at least one on the wrist synchronizing shaft Master arm and at least one slave arm, the slave arm point of the master arm of the wrist synchronizing shaft wrist synchronizing shaft adjacent with top Not hinged with transition link, the master arm of the synchronizing shaft of the top and the bottom end of top links are hinged, the top of the top links End is hinged by third articulated shaft with rack, the slave arm of the wrist synchronizing shaft of bottom and the top of the bottom linkage rod Hingedly, the bottom end of the bottom linkage rod and the wrist are hinged by the 4th articulated shaft；The axis institute of first and third articulated shaft Plane determined by the axis of determining plane and second, four articulated shafts is horizontal plane, the transition link, top links and The axis of bottom linkage rod is parallel with the axis of the boom；

It is described to include one and boom transition link disposed in parallel for wrist single connecting rod level-ling mechanism, it is described The upper end of transition link and the rack are hinged by third articulated shaft, the lower end of the transition link by the 4th articulated shaft with The wrist is hinged, and plane determined by the axis of first and third articulated shaft is put down with determined by described second, four articulated shafts Face is horizontal plane；The wrist is connect with the second articulated shaft anti-rotation；

The wrist attitude-adjusting system is wrist single connecting rod attitude-adjusting system or wrist multi link attitude-adjusting system；

The wrist multi link attitude-adjusting system include at least one wrist synchronizing shaft, at least one top links and with Several bottom linkage rods and first articulated shaft rotation connect rocking bar and for adjusting the wrist to the wrist correspondingly The gesture drive mechanism of portion's posture；At least one master arm and at least one slave arm, institute are provided on the wrist synchronizing shaft The slave arm for stating the master arm wrist synchronizing shaft adjacent with top of wrist synchronizing shaft is hinged with transition link respectively, the top The master arm of synchronizing shaft and the bottom end of top links are hinged, and the top of the top links is cut with scissors with rocking bar by third articulated shaft It connects, the top of the slave arm and the bottom linkage rod of the wrist synchronizing shaft of bottom is hinged, the bottom end of the bottom linkage rod It is hinged by the 4th articulated shaft with the wrist；Plane determined by the axis of first and third articulated shaft is hinged with second, four Plane determined by the axis of axis is parallel, the axis of the transition link, top links and bottom linkage rod and the boom Axis is parallel；The gesture drive mechanism drives the top links or rocking bar movement；

The wrist single connecting rod attitude-adjusting system include one with boom transition link disposed in parallel, with it is described The rocking bar of first articulated shaft rotation connection and the gesture drive mechanism for driving the transition link or the rocking bar, the translation The upper end of connecting rod is hinged by third articulated shaft with the rocking bar, and the lower end of the transition link and the wrist pass through the 4th hinge Spindle is hinged, and plane determined by the axis of first and third articulated shaft is parallel with plane determined by second, four articulated shafts； The wrist is connect with the second articulated shaft anti-rotation.

Further, the magnet synchronizing device includes connecting along each wrist orientation and each wrist rotation Magnet synchronizing shaft and at least one drive magnet synchronous drive mechanism of magnet synchronizing shaft rotation, the magnet is synchronous Axis is connect with each overturning magnet Synchronous Transmission.

Further, the positioning device is mobile ranging localization mechanism, fixed ranging localization mechanism or angular transducer Positioning mechanism；

The mobile ranging localization mechanism includes with the hinged range measurement mechanism of boom or crossbeam bottom, for keeping described The level-ling mechanism of measuring mechanism level and the positioning plate of the corresponding range measurement mechanism kinematic range setting；It is described fixed Difference of the height of position plate not less than the height of the highest point and the lowest point of boom bottom end movement；When the boom bottom end moves When to highest point, the range measurement mechanism corresponds to the top of the positioning plate, when the boom bottom end moves to minimum point, The range measurement mechanism corresponds to the lower part of the positioning plate；Alternatively, the positioning plate includes upper positioning plate and lower positioning plate, when When the boom forward swing moves to terminal, the upside height and downside height of the height of range measurement mechanism in the upper positioning plate Between, when pendular motion is to terminal after the boom, the height of range measurement mechanism the lower positioning plate upside height and Between the height of downside；

The fixed ranging localization mechanism includes the positioning plate hinged with boom or crossbeam bottom, for keeping the positioning The vertical vertical holding mechanism of plate and the range measurement mechanism of the corresponding positioning plate setting；The height of the positioning plate is not small In the difference of the highest point and the lowest point height of boom bottom end movement；It is described when the boom bottom end moves to highest point Range measurement mechanism corresponds to the lower part of the positioning plate, when the boom bottom end moves to minimum point, the range measurement machine Structure corresponds to the top of the positioning plate；Alternatively, the fixed ranging localization mechanism includes and boom or crossbeam bottom are hinged determines The range measurement machine of position plate, the vertical holding mechanism for keeping the positioning plate vertical and the corresponding positioning plate setting Structure；The range measurement mechanism includes upper measuring mechanism and lower measuring mechanism, and the height of the upper measuring mechanism is in the boom When forward swing moves to terminal between the upside height and downside height of positioning plate, the height of the lower measuring mechanism is in the boom When pendular motion is to terminal afterwards between the upside height and downside height of positioning plate；

The angular transducer positioning mechanism include by the angular transducer of booster engine and the first hinged axis connection, it is described First articulated shaft is connect with the low speed end of the booster engine, and the angular transducer is connect with the speed end of the booster engine, institute It states each boom to connect with the first articulated shaft anti-rotation, the speed increasing ratio of the angular range and booster engine of each boom movement multiplies Product is not more than the range of the angular transducer.

Further, the input lifting platform positioning device is electronic ruler positioning mechanism, the electronic ruler positioning mechanism packet Include the positioning plate of electronic ruler and fixed setting；Described electronic ruler one end is connect with the input hoistable platform main body, electronic ruler The other end is connect with the positioning plate.

Further, the position block is stepped stopper, rotary block, alternately block or translation block；

Wherein, the stepped stopper includes two layers of ladder, and the direction met and moved to profile is arranged in lower one layer of ladder, Two layers of ladder, which is met, is provided with limit trigger mechanism on the side of the profile direction of motion；

The rotary block includes column and the first and second block for connecting with the column；First and second block For axis vertically with the column, the length of first block is greater than the length of second block, and first and second block is remote Side from the column axis is provided with limit trigger mechanism；

The alternately block includes the forward and backward block being arranged successively along the profile direction of motion and the driving positive stop liter The block elevating mechanism of drop, the side that described two blocks meet the direction moved to profile are provided with limit trigger mechanism；

The translation block includes that movement block and the driving movement block are moved back and forth along the profile direction of motion Block translation mechanism, the movement block, which is met to the side of the profile direction of motion, is provided with limit trigger mechanism.

Further, if the input synchronous drive device includes connecting respectively with each input hoistable platform main body Dry elevating mechanism, several lifting catheters for constraining each elevating mechanism direction of motion respectively, synchronizing shaft, crossbeam and at least one A lift drive mechanism；

Wherein, several synchromesh gears are provided on the synchronizing shaft, the synchronizing shaft is connect with the crossbeam-rotating；It is described Each lifting catheter is fixedly connected with the crossbeam, and the elevating mechanism includes the rack gear engaged with the synchromesh gear, the liter Drop driving mechanism is connect with input hoistable platform or the elevating mechanism.

Further, profile clamping mechanism is provided on the overturning magnet, the profile clamping mechanism is that sliding fixes Mechanism, overturning clamping mechanism or lifting clamping mechanism；

Specifically, positioning device further includes motion control mechanism, and the motion control mechanism includes being arranged in the boom The upper trigger mechanism in the range of rear 1/2 that moves upwards, be arranged in the boom moves downward rear 1/2 in the range of under Trigger mechanism and the controller communicated with the upper trigger mechanism and the lower trigger mechanism；The controller and the movement Ranging localization mechanism, fixed ranging localization mechanism and the angular transducer positioning mechanism communicate, described in the controller control Synchronous drive device and the compensation device；The upper trigger mechanism and the lower trigger mechanism are close to switch.

Specifically, the magnet synchronous drive mechanism is magnet telescoping drive mechanism, the magnet synchronizing shaft and the magnetic The transmission connection of wrist booster engine is crossed by Tie Tong；Magnet telescoping drive mechanism one end and the wrist are hinged, and the magnet is flexible The other end of driving mechanism and swing rod are hinged, and the swing rod is connect with magnet synchronizing shaft anti-rotation；The wrist booster engine includes setting Set 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 transmission gear of moving gear；The speed ratio of the driven gear and driving gear is m/n, wherein m is the rotation of magnet Angle, n are the angle that magnet telescoping drive mechanism drives swing rod rotation；

Or the magnet synchronous drive mechanism is magnet rotary drive mechanism；The magnet rotary drive mechanism includes back Turn hydraulic cylinder or decelerating motor, the output shaft of the rotating hydraulic cylinder or decelerating motor is connect with the magnet.

Specifically, the synchronous drive device setting is below the horizontal segment of " ┤ " the shape rack, the pre-tightening apparatus It is arranged above " ┤ " the shape rack level section, the synchronous drive device and the pre-tightening apparatus apply the boom Pulling force；

Alternatively, the synchronous drive device is arranged above " ┤ " the shape rack level section, the pre-tightening apparatus setting Below " ┤ " the shape rack level section, the synchronous drive device and the pre-tightening apparatus apply pressure to the boom Power.

Specifically, the wrist is fixedly connected with the crossbeam, is provided with angle detection mechanism on the magnet.

Specifically, the output synchronous drive device includes connecting several liters with each input hoistable platform main body respectively Descending mechanism, several lifting catheters for constraining each elevating mechanism direction of motion respectively, synchronizing shaft, crossbeam and at least one liter Driving mechanism drops；

Further, the output lifting platform positioning device is electronic ruler positioning mechanism, the electronic ruler positioning mechanism packet Include the positioning plate of electronic ruler and fixed setting；Described electronic ruler one end is connect with the output hoistable platform main body, electronic ruler The other end is connect with the positioning plate.

Further, the overturning magnet is overturning electromagnet or overturning permanent magnet；

The overturning permanent magnet includes fixed magnet and rotary magnet, the rotary shaft of the rotary magnet and the fixed magnetic The line of two magnetic pole of iron is vertical.

Further, the output hoistable platform further includes translation mechanism, and the translation mechanism drives the output lifting Main platform body is moved along the swaying direction of boom.

Detailed description of the invention

Fig. 1 is the axonometric drawing of the multiple groups parallel high-speed palletizing system of tape travel compensation of the present invention；

Fig. 2 be the multiple groups parallel high-speed palletizing system of tape travel of the present invention compensation "" shape rack and synchronous drive device Scheme of installation；

Fig. 3 is the wrist level holding meanss schematic diagram of the multiple groups parallel high-speed palletizing system of tape travel of the present invention compensation；

Fig. 4 is the magnet synchronizing device schematic diagram of the multiple groups parallel high-speed palletizing system of tape travel compensation of the present invention；

Fig. 5 is the sliding clamping device schematic diagram of the multiple groups parallel high-speed palletizing system of tape travel compensation of the present invention；

Fig. 6 is the structural schematic diagram of multiple groups parallel high-speed stacking machine system of the present invention；

Fig. 7 is a kind of preferred driving method schematic diagram of multiple groups parallel high-speed stacking machine system of the present invention；

Fig. 8 is the schematic diagram of multiple groups parallel high-speed stacking machine system drive postposition of the present invention；

Fig. 9 is the compensation device of multiple groups parallel high-speed stacking machine system of the present invention and a kind of preferably side of combination of driving device Formula；

Figure 10 is a kind of preferred embodiment of multiple groups parallel high-speed stacking machine system pre-tightening apparatus of the present invention；

Figure 11 is the schematic diagram of the multi link wrist level holding mechanism of multiple groups parallel high-speed stacking machine system of the present invention；

Figure 12 is a kind of preferred structure of multiple groups parallel high-speed stacking machine system magnet synchronizing device of the present invention；

Figure 13 is the preferred structure schematic diagram of the mobile ranging localization mechanism of multiple groups parallel high-speed stacking machine system of the present invention；

Figure 14 is the system block diagram of multiple groups parallel high-speed stacking machine system positioning device of the present invention；

Figure 15 is the work flow diagram of multiple groups parallel high-speed stacking machine system positioning device of the present invention；

Figure 16 is the structural schematic diagram of multiple groups parallel high-speed stacking machine system translation clamping mechanism of the present invention；

Figure 17 is that multiple groups parallel high-speed stacking machine system of the present invention uses the ipsilateral installation synchronous drive device of " ┤ " shape rack With the structural schematic diagram of pre-tightening apparatus；

Figure 18 is multiple groups parallel high-speed stacking machine system of the present invention using " ┤ " shape rack heteropleural installation synchronous drive device With the structural schematic diagram of pre-tightening apparatus；

Figure 19 is multiple groups parallel high-speed stacking machine system of the present invention using telescoping mechanism and single connecting rod wrist pose adjustment The combining structure schematic diagram of mechanism；

Figure 20 is that multiple groups parallel high-speed stacking machine system of the present invention is shown using the structure of multi link wrist attitude-adjusting system It is intended to；

Figure 21 is that multiple groups parallel high-speed stacking machine system of the present invention is shown using the structure of single connecting rod wrist attitude-adjusting system It is intended to；

Figure 22 is the structural schematic diagram of the fixed ranging localization mechanism of multiple groups parallel high-speed stacking machine system of the present invention；

Figure 23 is the structural schematic diagram of multiple groups parallel high-speed stacking machine system perspective sensor positioning mechanism of the present invention.

Specific embodiment

The present invention will be further described with reference to the accompanying drawings of the specification.

In the present invention, " preceding " of rack refers to direction of the rack towards hoistable platform, and " rear " refers to that rack is flat backwards to going up and down The direction of platform." preceding " in motion process refers to the region first passed through during exercise, " rear " refer to during exercise afterwards by area Domain.

In the present invention, the wrist is for connecting boom and overturning magnet；Or the company of connecting cross beam and overturning magnet Binding structure, the connection structure are two pieces of connecting plates that the overturning magnet two sides are arranged in, overturning magnet side are arranged in One piece of connecting plate or other connection structures.

Embodiment 1

As shown in Figure 1, the multiple groups parallel high-speed palletizing system that the tape travel of the present embodiment compensates, including input lifting platform, Palletizer and output lifting platform；

If the Palletizer includes several racks 1 disposed in parallel, hinged by the first articulated shaft and each rack 1 Dry boom 2, the crossbeam connecting with each 2 lower end of boom, spaced several wrists 7 and wrist 7 one are a pair of on crossbeam The overturning magnet 6 of connection, the magnet synchronizing device for driving the synchronous overturning of each overturning magnet 6 should be rotated, for driving Synchronous drive device 3 that each boom 2 moves synchronously, setting boom driving device and rack or boom driving device with hang Compensation device 4 between arm；The wrist includes link block, and the link block top and bottom are extended to form to two sides respectively Substrate and lower plate；The overturning magnet and upper substrate rotation connect；

As shown in Fig. 2, the rack be "" shape rack；Described "" shape rack includes vertical section 102 and horizontal segment 101, 101 rear end of horizontal segment is connect with the top of the vertical section 102, and the front side or rear side of the vertical section 102 is provided with drive Dynamic connection structure；101 front end of horizontal segment and the top of the boom are hinged；

The synchronous drive device include with each boom correspondingly several drive links 301, with drive link 301 1 One corresponding rocking bar 303, synchronizing shaft 305 and at least one described synchronizing shaft of driving with drive connection structure rotation connection The synchronizing shaft driving mechanism 302 of 305 rotations, the rocking bar 303 are connect with 305 anti-rotation of synchronizing shaft, and the one of the connecting rod 301 End and the rocking bar 303 are hinged, and the other end and the boom of the connecting rod 301 are hinged；One of rocking bar 303 is connecting lever One arm, synchronizing shaft driving mechanism 302 are electric cylinders, hydraulic cylinder or cylinder, the electric cylinders, the telescopic rod of hydraulic cylinder or cylinder and institute Another arm for stating connecting lever is hinged, and the cylinder body of the electric cylinders, hydraulic cylinder or cylinder is hinged by compensation device and the rack.

The synchronous drive device is hinged by the compensation device and the rack；

The compensation device includes the compensation mount 401 hinged with the rack and separate with the compensation mount 401 The hinged compensation driving mechanism 402 in the rack side；It is cut with scissors in the middle part of the synchronous drive device 302 and the compensation mount 401 It connects；The kinematic accuracy of the compensation driving device 402 is higher than the synchronous drive device 302；

As shown in figure 3, the wrist and the crossbeam are hinged by the second articulated shaft 202, the Palletizer further includes Wrist synchronizing device, the wrist synchronizing device are wrist multi link level-ling mechanism；The wrist multi link level is kept Mechanism include at least one and boom rotation connection wrist synchronizing shaft 206, at least one top links 205 and with the wrist One-to-one several bottom linkage rods 207, be provided on the wrist synchronizing shaft 206 at least one master arm and at least one from Swing arm, the slave arm of the master arm of the wrist synchronizing shaft 206 wrist synchronizing shaft 206 adjacent with top respectively with transition link Hingedly, the master arm of the synchronizing shaft of the top and the bottom end of top links 205 are hinged, the top of the top links 205 and machine Frame is hinged by third articulated shaft 203, slave arm and the bottom linkage rod 207 of the wrist synchronizing shaft 206 of bottom Top is hinged, and the bottom end of the bottom linkage rod 207 and the wrist are hinged by the 4th articulated shaft 204；Described first and third is hinged Plane determined by the axis of plane determined by the axis of axis and second, four articulated shafts is horizontal plane, the transition link, top The axis of portion's connecting rod 205 and bottom linkage rod 207 is parallel with the axis of the boom；

As shown in figure 4, the magnet synchronizing device includes connecting along each wrist orientation and each wrist rotation The magnet synchronizing shaft 701 connect and at least one magnet synchronous drive mechanism 702 for driving the synchronizing shaft 701 to rotate, it is described Magnet synchronizing shaft 701 is connect with each magnet Synchronous Transmission；The magnet synchronous drive mechanism 702 is the flexible driving machine of magnet Structure 702, the magnet synchronizing shaft 701 are sequentially connected with the magnet by wrist booster engine；The magnet telescoping drive mechanism 702 one end and the wrist are hinged, and the other end and swing rod of the magnet telescoping drive mechanism 702 are hinged, the swing rod and magnetic The connection of 701 anti-rotation of iron synchronizing shaft；The wrist booster engine includes the driving gear being arranged on synchronizing shaft 701, is arranged in magnet On driven gear and at least one transmission gear for driving gear to be transferred to driven gear；The driven gear with The speed ratio of driving gear is 3, and magnet needs to overturn 180 °, and magnet telescoping drive mechanism 702 drives swing rod to rotate 60 °.

As shown in figure 5, being provided with profile clamping mechanism on the overturning magnet, the profile clamping mechanism is that sliding fixes Mechanism；The sliding clamping mechanism includes the tooth plate 608 being slidably connected with the magnet and for driving the tooth plate 608 sliding Dynamic tooth plate driving mechanism 607 is provided with the compatible fixing notch of profile along profile orientation on the tooth plate 608.

The overturning electromagnet further includes the magnetic force control system for controlling electromagnet magnetic force size；The magnetic force adjustment system Control device including sensor and control electromagnet magnetic force size for detecting electromagnet position；Wherein, the control dress The location information output control information for setting the electromagnet detected according to the sensor received is big with the magnetic force for adjusting electromagnet It is small.

The electromagnet that the control device is detected according to the sensor received location information output control information with The method for adjusting the magnetic force size of electromagnet are as follows: when detecting the overturning electromagnet turnover to first phase, control device Control electromagnet magnetic force is located at first interval；When electromagnet is located at other phases, control device control electromagnet magnetic force is located at Second interval.

Below to the multiple groups parallel high-speed code of the tape travel compensation of the present embodiment by taking the palletization of small dimension angle steel as an example The course of work of pile system is illustrated:

Under the original state of the present embodiment, the boom driving device 3 makes boom 2 be in plumbness, the overturning magnetic 6 magnetic pole of iron is downward.

When positive code steel, the boom driving device 3 drives connecting lever 303 to rotate, other rocking bars 303 pass through synchronizing shaft 305 Synchronous rotary is connected, and then drives drive link 301 that boom 2 is pushed to swing forward, until overturning magnet 6 is located at fashioned iron and connects steel position Top is set, synchronous drive device is then inputted and each input hoistable platform main body is driven to move upwards, when input hoistable platform main body It moves upward to and is suitable for the position that magnet 6 draws angle steel, then magnet suction 6 takes angle steel, when the absorption angle steel of magnet, angle steel Turning fixes in the fixing notch of tooth plate 608, makes angle steel that posture be kept not change, and then synchronous drive device 3 drives Boom 2 is moved to output hoistable platform, until output hoistable platform rises to convenient for magnetic when overturning magnet 6 is located at output top Iron 6 puts down the position of angle steel, at this point, magnet 6 puts down angle steel.In the motion process of boom, since wrist multi link level is protected It holds device and forms two parallel four-bar linkages, and the original state of wrist 7 is horizontality, therefore, in whole service In the process, wrist 7 remains horizontal.

Then carry out reversed code steel, need first stacking profile by input lifting platform be promoted to it is higher connect steel position, then together It walks driving mechanism 302 to act, drives boom forward swing to connecing steel by connecting lever 303, synchronizing shaft 305, rocking bar 303 and connecting rod 301 Position, subsequent magnet retractable driving device 702 are stretched out, and driving overturning synchronizing shaft 701 rotates, and drive overturning magnet 6 by reduction gearbox Rotation, makes to draw angle steel in magnetic pole horizontal direction.Since angle steel is in code, it is inShape when angle steel radix-minus-one complement, is superimposed upon On the good angle steel of previous code, it is in Shape, code, that is, angle steel is opening down, radix-minus-one complement, that is, angle steel opening Upward.When angle steel code, since the closed angle end for being angle steel is single line contact with magnet 6 upward, contact area very little is held very much Rollover is generated easily on magnet 6, so guiding tooth plate 608 must be arranged on magnet, the angle steel of code is oriented to.But During subsequent radix-minus-one complement, guiding tooth plate 608 can interfere with the angle steel of code, it is therefore desirable to make the edge and horizontal plane of angle steel Contact, therefore need to drive tooth plate 608 to move by tooth plate driving mechanism 607 before drawing angle steel, make the edge and tooth of angle steel The straight portion of plate 608 is aligned.Then input lifting platform moves downward, and angle steel is drawn on magnet 6, and lifting platform to be entered leaves After overturning region, magnet telescoping drive mechanism 702 is retracted, and overturning magnet 6 reversely rotates 180 °；Then synchronous drive device 302 It drives connecting lever 303 to move, drives each 2 synchronous hunting of boom to reversed code steel by synchronizing shaft 305, rocking bar 303 and connecting rod 301 Position, after boom in place after, overturn 6 power loss of magnet, fall on stacking lifting platform under steel.

When boom is located at forward swing and connects steel position and rear pendulum stacking position, the synchronous axial brake device runs to limit position It sets, by taking the stacking of angle steel as an example, in code, synchronizing shaft driving mechanism retracts to extreme position just diagonal steel and carries out just angle steel Code, still, when radix-minus-one complement need boom to move a small angle again after moving to code extreme position, at this point, passing through benefit It repays device driving boom and moves a small distance backward, boom is made to reach the position of radix-minus-one complement.Due to the kinematic accuracy of compensation device Higher than synchronous axial brake device therefore in the motion process, adjustment of the compensation device for precision was both contained, has also included Compensation of the compensation device for stroke.

Embodiment 2

On the basis of the above embodiments, on the basis of the above embodiments, overturn the clamping mechanism of magnet also there are two types of Feasible structure: overturning clamping mechanism or lifting clamping structure.

The overturning clamping mechanism includes the tooth plate hinged with the magnet and the tooth for driving the tooth plate overturning Plate driving mechanism is provided with fixing notch compatible with profile along profile orientation on the tooth plate；When need tooth plate into When row fixes, tooth plate driving mechanism drives the tooth plate to downwardly turn over, and makes the fixing notch of tooth plate that the downside of magnet be arranged in, this When, profile can be fixed, when not needing to fix profile, tooth plate driving mechanism driving tooth plate is flipped up, and is turned to The top of magnet lower edge, in this way, not influencing absorption of the magnet to fashioned iron.

The lifting clamping mechanism includes the tooth plate being slidably connected with the side of the magnet and the driving magnet liter The tooth plate driving mechanism of drop；It is provided with profile along profile orientation to the fixing notch being adapted on the tooth plate.Work as needs When tooth plate fixes profile, tooth plate driving device drives the tooth plate to decline, and the notch that fixes of tooth plate is made to leak out the following of magnet Edge, when not needing tooth plate fixing profile, tooth plate driving mechanism drives the tooth plate to ramp up, and is raised to the fixing notch of tooth plate The top of magnet lower edge does not influence absorption of the magnet to profile thus.

Embodiment 3

As shown in fig. 6, the multiple groups parallel high-speed palletizing system that the tape travel of the present embodiment compensates, including input lifting platform, Palletizer and output lifting platform；

If the Palletizer includes several racks 1 disposed in parallel, hinged by the first articulated shaft and each rack 1 Dry boom 2, the crossbeam connecting with each 2 lower end of boom, spaced several wrists 7 and wrist 7 one are a pair of on crossbeam The overturning magnet 6 of connection, the magnet synchronizing device for driving the synchronous overturning of each overturning magnet 6 should be rotated, for driving Synchronous drive device 3 that each boom 2 moves synchronously, setting boom driving device and rack or boom driving device with hang Compensation device 4 between arm, the positioning device for being accurately positioned 2 position of boom and for balance oscillating arm part or complete The pre-tightening apparatus of portion's self weight and/or load；

As Figure 7-8, the rack be "" shape rack；Described "" shape rack includes vertical section 102 and horizontal segment 101,101 rear end of horizontal segment is connect with the top of the vertical section 102, the front side or rear side setting of the vertical section 102 There is drive connection structure；101 front end of horizontal segment and the top of the boom are hinged；

As shown in figure 9, the compensation device include the compensation mount 401 hinged with the rack and with the compensation bottom The 401 compensation driving mechanisms 402 hinged far from the rack side of seat；The synchronous drive device 302 and the compensation mount 401 middle parts are hinged；The kinematic accuracy of the compensation driving device 402 is higher than the synchronous drive device 302；

As shown in Figure 10, the pre-tightening apparatus includes the both ends elastic mechanism hinged with the rack and the boom respectively And the flexible adjustment mechanism of the elastic force for adjusting the elastic mechanism；

The elastic mechanism includes cylinder 501 and the gas bag being connected to the cylinder 510, and the flexible adjustment mechanism includes Gas source 516, the gas source processing element 512 for being connected to gas source 516 and gas bag 510 and the gas being arranged on the gas bag 510 Press table 511；

The balance cylinder 501 is mounted between swing arm 2 and frame body 1, and swing arm self weight is supported in 2 action process of swing arm.

The air supply system includes gas source 516, gas bag 510, air gauge 511, gas source processing three elements 512, welded still pipe 503 and ball valve 513, the gas source 516 handles three elements by reducing joint 515, welded still pipe 514, ball valve 513 and gas source 512 are inflated compressed-air-storing to gas bag 510, manually adjustable ball valve 513 to gas bag 510, and gas bag 510 is also adjusted On relief valve deflate.

The gas bag 510 is equipped with air gauge 511, can read 510 atmospheric pressure value of gas bag in real time；

The cylinder intake unit 502 by welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506, 507 welded still pipe 508 of union and pipe reducer 509 are connect with gas bag 510, can be turned off manually or open ball valve 506 with Just the gas distribution channel between gas bag 510 and balance cylinder 501 is controlled.

The gas bag 510 is placed on 1 side of palletizing mechanical arm frame body or more nearby, the ball valve between gas bag 510 and cylinder 506 are mounted on frame body 1 convenient for the position of operation.

As shown in figure 11, the wrist and the crossbeam are hinged by the second articulated shaft 202, and the Palletizer further includes Wrist synchronizing device, the wrist synchronizing device are wrist multi link level-ling mechanism；The wrist multi link level is kept Mechanism include at least one and boom rotation connection wrist synchronizing shaft 206, at least one top links 205 and with the wrist One-to-one several bottom linkage rods 207, be provided on the wrist synchronizing shaft 206 at least one master arm and at least one from Swing arm, the slave arm of the master arm of the wrist synchronizing shaft 206 wrist synchronizing shaft 206 adjacent with top respectively with transition link Hingedly, the master arm of the synchronizing shaft of the top and the bottom end of top links 205 are hinged, the top of the top links 205 and machine Frame is hinged by third articulated shaft 203, slave arm and the bottom linkage rod 207 of the wrist synchronizing shaft 206 of bottom Top is hinged, and the bottom end of the bottom linkage rod 207 and the wrist are hinged by the 4th articulated shaft 204；Described first and third is hinged Plane determined by the axis of plane determined by the axis of axis and second, four articulated shafts is horizontal plane, the transition link, top The axis of portion's connecting rod 205 and bottom linkage rod 207 is parallel with the axis of the boom；

As shown in figure 12, the magnet synchronizing device includes connecting along each wrist orientation and each wrist rotation The magnet synchronizing shaft 701 connect and at least one magnet synchronous drive mechanism 702 for driving the synchronizing shaft 701 to rotate, it is described Magnet synchronizing shaft 701 is connect with each magnet Synchronous Transmission；The magnet synchronous drive mechanism 702 is the flexible driving machine of magnet Structure 702, the magnet synchronizing shaft 701 are sequentially connected with the magnet by wrist booster engine；The magnet telescoping drive mechanism 702 one end and the wrist are hinged, and the other end and swing rod of the magnet telescoping drive mechanism 702 are hinged, the swing rod and magnetic The connection of 701 anti-rotation of iron synchronizing shaft；The wrist booster engine includes the driving gear being arranged on synchronizing shaft 701, is arranged in magnet On driven gear and at least one transmission gear for driving gear to be transferred to driven gear；The driven gear with The speed ratio of driving gear is 3, and magnet needs to overturn 180 °, and magnet telescoping drive mechanism 702 drives swing rod to rotate 60 °.

As illustrated in figs. 13-15, the positioning device is mobile ranging localization mechanism；The mobile ranging localization mechanism includes With the hinged range measurement mechanism of boom or crossbeam bottom, the level-ling mechanism for keeping the measuring mechanism level and right Answer the positioning plate of the range measurement mechanism kinematic range setting；The height of the positioning plate 215 is not less than the boom bottom end The difference of the height of the highest point and the lowest point of movement；When the boom bottom end moves to highest point, the range measurement mechanism The top of the correspondence positioning plate 215, when the boom bottom end moves to minimum point, described in the range measurement mechanism correspondence The lower part of positioning plate 215；Positioning device further includes motion control mechanism, and the motion control mechanism includes being arranged in the boom The upper trigger mechanism in the range of rear 1/2 that moves upwards, be arranged in the boom moves downward rear 1/2 in the range of under Trigger mechanism and the controller communicated with the upper trigger mechanism and the lower trigger mechanism；The controller and the movement The communication of ranging localization mechanism, the controller control the synchronous drive device and the compensation device；The upper trigger mechanism It is close to switch with the lower trigger mechanism.The range measurement mechanism includes shading protecting box 213 and is arranged in the shading Laser ranging mechanism 214 in protecting box 213；

The input synchronous drive device includes several elevators connecting respectively with each input hoistable platform main body Structure, several lifting catheters for constraining each elevating mechanism direction of motion respectively, synchronizing shaft, crossbeam and at least one lifting are driven Motivation structure；Wherein, several synchromesh gears are provided on the synchronizing shaft, the synchronizing shaft is connect with the crossbeam-rotating；It is described Each lifting catheter is fixedly connected with the crossbeam, and the elevating mechanism includes the rack gear engaged with the synchromesh gear, the liter Drop driving mechanism is connect with input hoistable platform or the elevating mechanism.The input lifting platform positioning device is electronic ruler positioning Mechanism, the electronic ruler positioning mechanism include the positioning plate of electronic ruler and fixed setting；Described electronic ruler one end and the input The connection of hoistable platform main body, the other end of electronic ruler are connect with the positioning plate.

The output synchronous drive device include connect respectively with each input hoistable platform main body several elevating mechanisms, Several lifting catheters, synchronizing shaft, crossbeam and at least one lifting driving of each elevating mechanism direction of motion are constrained respectively Mechanism；Wherein, several synchromesh gears are provided on the synchronizing shaft, the synchronizing shaft is connect with the crossbeam-rotating；It is described each Lifting catheter is fixedly connected with the crossbeam, and the elevating mechanism includes the rack gear engaged with the synchromesh gear, the lifting Driving mechanism is connect with input hoistable platform or the elevating mechanism.

As shown in figure 16, profile clamping mechanism is provided on the overturning magnet, the profile clamping mechanism is sliding card Gu mechanism；The sliding clamping mechanism includes the tooth plate 608 being slidably connected with the magnet and for driving the tooth plate 608 The tooth plate driving mechanism 607 of sliding is provided with the compatible fixing notch of profile along profile orientation on the tooth plate 608.

Under a kind of original state of the present embodiment, the boom driving device 3 makes boom 2 be in plumbness, described to turn over It is downward to turn 6 magnetic pole of magnet.

In the motion process of boom, the pressure in the gas bag 510 of the present embodiment should meet: one, balance cylinder 501 pushes away The trimming moment that power generates is slightly larger than the maximum load moment of resistance generated of being self-possessed during swing arm motion, and two, gas bag 510 is entire Pressure is basically unchanged during driving.Under the conditions of above-mentioned two, the effect of no drive link, swing arm will be in balance cylinder 501 Thrust lower swing to foremost position, therefore the stress of drive link becomes tension from original compression, avoids the occurrence of compression bar Unstable phenomenon；After 2 forward swing of swing arm connects steel, the weight of steel is increased, becoming larger for loading moment is conducive to swing arm backswing, and driving connects The pulling force of bar also reduces therewith；In 2 action process of swing arm, balance cylinder 501 is constantly in thrust rating, and driving pull rod is always In tension state, connecting component stress does not commutate, so that eliminating the gap of hinged place influences.Be conducive to boom swinging Precision in the process improves.

In the motion process of boom, positioned by movement latter end of the positioning device to boom, process is as follows: During forward swing, boom 2 starts the period by 302 full-speed operation of synchronous drive device in movement, and driving boom 2 quickly moves, When boom 2 is by upper trigger mechanism, into movement latter end, controller obtains 2 current location of boom by positioning device, and controls Synchronous drive device 302 drives boom movement, and when boom is when being closely located to predetermined position, controller controls compensation device driving Boom 2 moves, and the kinematic accuracy of compensation device is high, and boom can be made accurately to stop at predetermined position in this way, put after boom 2 Process is similar to the process of forward swing.In this way, the initial segment of movement does not need to calculate, the operand of controller can be greatly reduced. And in latter end, range measurement mechanism measures the position of boom, and error is very small, then drives boom by high-precision compensation device Movement, can make boom accurately stop at predetermined position.

In the motion process of boom, compensation device may be used also other than the effect of the kinematic accuracy of above-mentioned adjustment boom To be used to compensate the stroke of boom, by taking the stacking of angle steel as an example, in code, synchronizing shaft driving mechanism retracts to angle steel Extreme position just diagonal steel carries out code, and still, when radix-minus-one complement needs boom to move one again after moving to code extreme position A small angle makes boom reach the position of radix-minus-one complement at this point, driving boom to move a small distance backward by compensation device It sets.

Embodiment 4

As shown in figure 17, the present embodiment is difference from example 1 is that the present embodiment selects " ┤ " shape rack, " ┤ " Shape rack includes vertical section 102 and horizontal segment 101, and the rear end of the horizontal segment 101 is connect with the middle part of the vertical section 102, The vertical section 102 is provided with drive connection structure, it is described be drivingly connected structure setting the top of the horizontal segment 101 or under Side；101 front end of horizontal segment and the middle part of the boom 2 are hinged.

In the present embodiment, synchronous drive device and pre-tightening apparatus 5 are all disposed within the lower section of rack level section 101, that is, The ipsilateral of rack level section 101 has been arranged in synchronous drive device and pre-tightening apparatus 5.When selecting " ┤ " shape rack, due to boom 2 Middle part and horizontal segment 101 it is hinged, in this way, the top of boom 2 forms counterweight to lower part, boom 2 is made to be in the shape close to balance State, when the power that the weight that the resultant force that the power and top counterweight that pre-tightening mechanism applies apply is greater than 2 lower part of boom applies, boom 2 It can be swung up, the power that connecting rod 301 is subject at this time is pulling force, and after manipulator feeding, weight increases, when needing to lower swing, 303 driving mechanism 302 of rocking bar retraction pulls boom 2 by the transmission of connecting lever, rocking bar 303 and connecting rod 301, at this time connecting rod 301 Application pulling force is remained, the power of pre-tightening apparatus 5 and synchronous drive device does not all commutate boom 2 during the motion as a result, energy Enough eliminate hinge gap.

Certainly, when choosing " ┤ " shape rack, as shown in figure 18, it is also an option that being arranged synchronous drive device in horizontal segment 101 tops, pre-tightening apparatus 5 is arranged below horizontal segment 101, alternatively, being arranged synchronous drive device under horizontal segment 101 Pre-tightening apparatus 5 is arranged below horizontal segment 101 for side, and in this case, the power of connecting rod 301 and pre-tightening apparatus 5 will not change To, and the force of the two is simultaneously pulling force or pressure.

Embodiment 5

On the basis of embodiment 1 and embodiment 2, as shown in figure 19, driving device is changed to telescopic machine by the present embodiment Structure 304, each boom are connect with 201 anti-rotation of the first articulated shaft, and the both ends of the telescoping mechanism 304 are hung with described respectively Arm and rack are hinged.

In the present embodiment, each boom is connect with 201 anti-rotation of the first articulated shaft, is then driven by telescoping mechanism 304 It moves one of them or several booms 2 is moved, connect at this time due to each boom 2 with 201 anti-rotation of the first articulated shaft, because This, each boom 2 can also move synchronously.The present embodiment will directly drive boom 2 using telescoping mechanism 304 and move, without passing It is dynamic, the energy consumption in transmission process can be reduced, energy conversion efficiency is improved.

Embodiment 6

On the basis of the above embodiments, the pre-tightening apparatus can also be using such as flowering structure: the elastic mechanism includes Spring, the flexible adjustment mechanism include the position adjusting mechanism for adjustment spring and machine rack link position.

Preload is adjusted as elastic mechanism, and by the distance between adjustment spring both ends using spring in the present embodiment The elastic force of mechanism, it is easy for installation.

Embodiment 7

On the basis of the above embodiments, when being needed in palletization when fashioned iron to certain angle is overturn, need by Wrist level holding mechanism is changed to wrist attitude regulation mechanism, and as shown in figure 20, wrist attitude regulation mechanism can select Select wrist multi link attitude regulation mechanism, the wrist multi link attitude-adjusting system include at least one wrist synchronizing shaft 206, At least one top links 205 and with the wrist correspondingly several bottom linkage rods 207, with first articulated shaft 201 Rotation connection rocking bar 229 and the gesture drive mechanism 208 for adjusting the wrist posture；On the wrist synchronizing shaft 206 It is provided at least one master arm and at least one slave arm, the master arm of the wrist synchronizing shaft 206 wrist 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 bottom of top links 205 End is hinged, and the top of the top links 205 and rocking bar 229 are hinged by third articulated shaft 203, and the wrist of bottom is same The top for walking the slave arm and the bottom linkage rod 207 of axis 206 is hinged, and the bottom end of the bottom linkage rod 207 and the wrist 7 are logical It is hinged to cross the 4th articulated shaft 204；The axis of plane determined by the axis of first and third articulated shaft and second, four articulated shafts Identified plane is parallel, the axis of the axis of the transition link, top links 205 and bottom linkage rod 207 and the boom 2 Line is parallel；The gesture drive mechanism 208 drives the top links 205 or the rocking bar 229 to move.

When fashioned iron needs to carry out in palletization angle overturning, using the scheme of the present embodiment, in the present embodiment, energy Enough by the driving of one or several wrist gesture drives mechanism 208, synchronizes the posture of all wrists 7 and be adjusted, it can The posture for maintaining like the overall length of fashioned iron all, will not there is a situation where at random.By using multiple parallel four in this present embodiment Link mechanism is driven, and therefore, can according to need the length of determining transition link, bottom linkage rod 205 and top links 207 The case where, there is strut buckling in such manner, it is possible to avoid the occurrence of during the adjustment in degree, and equipment is by destroying.

When the length of boom 2 is shorter, wrist single connecting rod attitude regulation mechanism can also be used, as shown in Figure 21 and 19, The wrist single connecting rod attitude-adjusting system includes one and boom transition link 209 disposed in parallel and described first The rocking bar of the rotation connection of articulated shaft 201 and the gesture drive mechanism 208 of the driving transition link 209 or the rocking bar 229, The upper end of the transition link 209 and the rocking bar 229 are hinged by third articulated shaft 203, the lower end of the transition link 209 Pass through the 4th articulated shaft 204 hingedly with the wrist 7, plane determined by the axis of first and third articulated shaft and second, four Plane determined by articulated shaft is parallel；The wrist 7 is connect with 202 anti-rotation of the second articulated shaft.

Above structure uses a parallel four-bar linkage, since wrist 7 is connect with 202 anti-rotation of the second articulated shaft, Therefore, the pose adjustment of each wrist 7 can also synchronously complete.Also, transmission link is few, can reduce the product of machine error It is tired, it can also reduce the energy consumption in transmission process.

Likewise, wrist level holding mechanism can also keep machine using wrist single connecting rod level when boom 2 is shorter Structure, it is described to include one and boom transition link disposed in parallel, the translation for wrist single connecting rod level-ling mechanism The upper end of connecting rod and the rack are hinged by third articulated shaft, the lower end of the transition link by the 4th articulated shaft with it is described Wrist is hinged, and plane determined by the axis of first and third articulated shaft is with plane determined by described second, four articulated shafts Horizontal plane；The wrist is connect with the second articulated shaft anti-rotation.

Above structure uses a parallel four-bar linkage, since wrist is connect with the second articulated shaft anti-rotation, Each wrist can synchronize holding level.Similarly, since transmission link is few, the accumulation of machine error can be reduced, also can Reduce the energy consumption in transmission process.

Embodiment 8

On the basis of the above embodiments, the mobile ranging localization mechanism can also be replaced with fixed ranging localization machine Structure, as shown in figure 22, the fixed ranging localization mechanism includes the positioning plate 215 hinged with boom or crossbeam bottom, for protecting Hold the range measurement mechanism that the vertical vertical holding mechanism of the positioning plate 215 and the corresponding positioning plate 215 are arranged；It is described Range measurement mechanism includes shading protecting box 213 and the laser ranging mechanism 214 that is arranged in shading protecting box 213, described fixed Difference of the height of position plate 215 not less than the highest point and the lowest point height of boom bottom end movement；When the boom bottom end is transported When moving to highest point, the range measurement mechanism corresponds to the lower part of the positioning plate 215, when the boom bottom end move to it is minimum When point, the range measurement mechanism corresponds to the top of the positioning plate 215.Above structure also can by measurement boom lower end with The distance of a certain fixed point is accurately positioned the position of boom.

It is of course also possible to position the position of boom by the rotation angle for measuring boom, just needed at this time using angle Sensor positioning mechanism, as shown in figure 23, the angular transducer positioning mechanism include passing through booster engine 210 and the first articulated shaft The shell of the angular transducer 212 of connection, the angular transducer 212 is mounted on rotating base 211, the rotating base 211 connect with shell or the rotation of the first articulated shaft, are provided on the rotating base 211 rotating base 211 being locked at shell Or the first locking device on articulated shaft, first articulated shaft are connect with the low speed end of the booster engine 210, the angle passes Sensor 212 is connect with the speed end of the booster engine 210, and each boom is connect with the first articulated shaft anti-rotation, each described The product of the speed increasing ratio of the angular range and booster engine 210 of boom movement is not more than the range of the angular transducer 212.It is above-mentioned First articulated shaft is connect by speeder with angular transducer 212 by structure, when the first articulated shaft rotates an angle, is increased Speed variator is expanded the range of the measuring section of angular transducer 212 by speedup, enhances point of angular transducer 212 indirectly with this Resolution.When manipulator is swung, axis of the mechanical movement around arm end is rotated, while just driving connection Booster engine 210 on to axis is run.If swing arm traffic coverage is [0, A], after 210 speed ratio k of booster engine amplification, booster engine 210 Speed end traffic coverage is really [0, kA].If sensor resolution is B, since sensor is connected to 210 speed end of booster engine, So the Measurement Resolution of 210 speed end of booster engine is B, and the Measurement Resolution at 210 low speed end of booster engine is B/k, that is, It says, measuring device proposed by the present invention, the resolution ratio measured for swing arm is B/k, and precision improves k times.

Embodiment 9

On the basis of the above embodiments, overturning the clamping mechanism of magnet, also there are two types of feasible structures: overturning fixing machine Structure or lifting clamping structure.

Embodiment 10

In the above-described embodiments, the reason of snap-gauge needs to translate, overturns or go up and down is to be in since angle steel is in codeShape when angle steel radix-minus-one complement, is superimposed upon on the good angle steel of previous code, is inShape, code, that is, angle Steel it is opening down, radix-minus-one complement, that is, angle steel is opening up.When angle steel code, due to be the closed angle end of angle steel upward and magnet It is single line contact, contact area very little, it is easy to rollover is generated on magnet 6, so guiding tooth plate must be set on magnet, The angle steel of code is oriented to.But during subsequent radix-minus-one complement, guiding tooth plate can interfere with the angle steel of code, therefore need Make the edge of angle steel and horizontal face contact, therefore need to drive tooth plate movement by tooth plate driving mechanism before drawing angle steel, It is aligned the edge of angle steel with the straight portion of tooth plate.If by the angle steel of code and radix-minus-one complement input hoistable platform on respectively into Row stops, and is aligned the angle steel just wedge angle of code with the notch of tooth plate, and the angle steel of radix-minus-one complement just edge and tooth plate is straight Section alignment, in this way, stop the angle steel of code and radix-minus-one complement on input hoistable platform there is no need to drive tooth plate to be moved Position difference can be realized by the block of following several structures.:

Stepped stopper: including two layers of ladder, the side for meeting and moving to profile, two layers of rank is arranged in lower one layer of ladder Ladder, which is met, is provided with limit trigger mechanism on the side of the profile direction of motion；The shape of this block is ladder-like, 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 is stopped, and 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 Stop place of the steel on input hoistable platform is different.

Rotary block: including column and the first and second block being connect with the column；The axis of first and second block For line vertically with the column, the length of first block is greater than the length of second block, and first and second block is separate The side of the column axis is provided with limit trigger mechanism；This block is by two different blocks of length respectively to just Code and the angle steel of radix-minus-one complement are stopped, and can make code different with the stop place of the angle steel of radix-minus-one complement in this way.

Alternating block: including the forward and backward block being arranged successively along the profile direction of motion and the driving positive stop lifting Block elevating mechanism, the side that described two blocks meet the direction moved to profile is provided with limit trigger mechanism；Pass through The different block in two positions stops the angle steel of code and radix-minus-one complement respectively, equally also the angle steel of code and radix-minus-one complement can be made to rest on Different positions.

Translation block: the block moved back and forth including movement block and the driving movement block along the profile direction of motion Translation mechanism, the movement block, which is met to the side of the profile direction of motion, is provided with limit trigger mechanism；The present embodiment passes through gear The translation of block, the same block, which moves to different positions, respectively stops the angle steel of code and radix-minus-one complement, 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, and diagonal steel does not interfere, due to boom either code or radix-minus-one complement, forward swing Connect the position of steel be all it is identical, when the stop place difference of angle steel, boom is connect when swinging to positive code position after steel, angle steel pair The position answered is not also just identical.The distance between two positions that angle steel stops and the distance between code angle steel and radix-minus-one complement angle steel It is equal, so that it may so that boom rests on the same position every time and realizes code and radix-minus-one complement.

Embodiment 11

It is similar to Example 8, translation mechanism, the translation mechanism driving output can also be set on output hoistable platform Hoistable platform main body is moved along the swaying direction of boom.In this way, control output hoistable platform main body moving distance and code and The distance between angle steel of radix-minus-one complement is equal, and boom can also be made, which to rest on the same position every time, can realize code and anti- Code.

Embodiment 11

On the basis of the above embodiments, wrist can also be fixedly connected on crossbeam, and angled detection is arranged on magnet Mechanism, in this way, detecting the current angle of magnet by angle detection mechanism, also, each by the driving of magnet synchronous drive mechanism The synchronous overturning of magnet, also can make magnet reach scheduled angle.

More than, only presently preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with sheet In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those skilled in the art, should all cover Within protection scope of the present invention.Therefore, the scope of protection of the present invention shall be subject to the scope of protection defined by the claims.

Claims

1. a kind of multiple groups parallel high-speed palletizing system of tape travel compensation, it is characterised in that: including Palletizer；

The Palletizer includes several racks disposed in parallel, is hinged with boom by the first articulated shaft in the rack, respectively The lower end of the boom is connect with crossbeam, and the downside of the crossbeam is hinged with several wrists by the second articulated shaft interval, described Wrist rotation is connected with overturning magnet, and the clamping mechanism for fixing profile is provided on the overturning magnet；In the rack It is provided with the synchronous drive device for driving each boom movement, the synchronous drive device passes through compensation device and the rack Connection, the wrist keep horizontal by wrist level holding mechanism；The wrist includes link block, the link block upper end and Lower end extends to form upper substrate and lower plate to two sides respectively；The overturning magnet and upper substrate rotation connect；

The compensation device includes the side compensation mount hinged with the rack and hinged with the compensation mount other side Compensation driving mechanism；It is hinged in the middle part of the synchronous drive device and the compensation mount；Compensate the kinematic accuracy of driving device Higher than the synchronous drive device；

The synchronous drive device includes along the synchronizing shaft of rack orientation and each rack rotation connection, on synchronizing shaft Be provided with boom correspondingly several rocking bars, both ends respectively with the hinged several drive links of corresponding boom and rocking bar with And at least one drives the synchronizing shaft driving mechanism of the synchronizing shaft rotation, the rocking bar is connect with the synchronizing shaft anti-rotation.

2. the multiple groups parallel high-speed palletizing system of tape travel compensation as described in claim 1, it is characterised in that: the profile fixes Mechanism is sliding clamping mechanism, overturning clamping mechanism or lifting clamping mechanism；

The sliding clamping mechanism includes the tooth plate being slidably connected with the magnet and for driving the tooth plate to slide back and forth Tooth plate driving mechanism, profile orientation is provided with the compatible fixing notch of profile on the tooth plate；

The overturning clamping mechanism includes the tooth plate hinged with the magnet and for driving the tooth plate of the tooth plate overturning to drive Motivation structure is provided with fixing notch compatible with profile along profile orientation on the tooth plate；

The lifting clamping mechanism includes that the tooth plate being slidably connected with the side of the magnet and the driving tooth plate are gone up and down Tooth plate driving mechanism；It is provided with profile along profile orientation to the fixing notch being adapted on the tooth plate.

3. the multiple groups parallel high-speed palletizing system of tape travel compensation as described in claim 1, it is characterised in that: the wrist level Holding mechanism include at least one and boom rotation connection wrist synchronizing shaft, at least one top links and with the wrist one One corresponding several bottom linkage rods are provided at least one master arm and at least one slave arm, institute on the wrist synchronizing shaft The slave arm for stating the master arm wrist synchronizing shaft adjacent with top of wrist synchronizing shaft is hinged with transition link respectively, the top The master arm of synchronizing shaft and the bottom end of top links are hinged, and the top of the top links is cut with scissors with rack by third articulated shaft It connects, the top of the slave arm and the bottom linkage rod of the wrist synchronizing shaft of bottom is hinged, the bottom end of the bottom linkage rod It is hinged by the 4th articulated shaft with the wrist；Plane determined by the axis of first and third articulated shaft is hinged with second, four Plane determined by the axis of axis is horizontal plane, and the axis of the transition link, top links and bottom linkage rod is hung with described The axis of arm is parallel.

4. the multiple groups parallel high-speed palletizing system of tape travel compensation as described in claim 1, it is characterised in that: the Palletizer It further include the magnet synchronizing device for driving each overturning magnet, the magnet synchronizing device includes arranging along each wrist The magnet synchronizing shaft and at least one magnetic for driving the magnet synchronizing shaft to rotate of column direction and each wrist rotation connection Iron synchronous drive mechanism, the magnet synchronizing shaft are connect with each overturning magnet Synchronous Transmission.

5. the multiple groups parallel high-speed palletizing system of tape travel compensation as described in claim 1, it is characterised in that: overturning electromagnet is also Magnetic force control system including controlling electromagnet magnetic force size；Magnetic force adjustment system includes the sensing for detecting electromagnet position The control device of device and control electromagnet magnetic force size；Wherein, the control device is detected according to the sensor received The location information output of electromagnet controls information to adjust the magnetic force size of electromagnet.

6. the multiple groups parallel high-speed palletizing system of tape travel compensation as claimed in claim 5, it is characterised in that: the control device The location information output of the electromagnet detected according to the sensor received controls information to adjust the magnetic force size of electromagnet Method are as follows: when detecting the overturning electromagnet turnover to first phase, control device controls electromagnet magnetic force and is located at the One section；When electromagnet is located at other phases, control device control electromagnet magnetic force is located at second interval.