CN202481767U - Heavy section steel robot palletizer system - Google Patents
Heavy section steel robot palletizer system Download PDFInfo
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- CN202481767U CN202481767U CN2012200203290U CN201220020329U CN202481767U CN 202481767 U CN202481767 U CN 202481767U CN 2012200203290 U CN2012200203290 U CN 2012200203290U CN 201220020329 U CN201220020329 U CN 201220020329U CN 202481767 U CN202481767 U CN 202481767U
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Abstract
The utility model discloses a heavy section steel robot palletizer system which comprises a conveying roller way, a material discharging positioning device, a material discharging swing arm, a first-level conveyer, a robot palletizer and a motion control system, wherein the robot palletizer comprises four degrees of freedom of an electromagnetic actuation manipulator, which translate in three directions of X,Y and Z and rotate around an X-shaft; each chain wheel conveying belt II of the first-level conveyer is provided with a positioning baffle plate, and is also provided with a position signal sensor for detecting the section steel positioning situation; one end of the tail part of the first-level conveyer is provided with a palletizer conveyer consisting of a plurality of parallel chain wheel conveying belts I; the palletizer conveyer is provided with a palletizer position signal sensor and a belt striking position signal sensor; and palletizer positioning devices are arranged among the chain wheel conveying belts I corresponding to the palletizer position. According to the utility model, all components are comprehensively utilized and matched, the picking, transportation and palletizing process of the section material are completed, and the automation and mechanization of the section steel palletizer are realized.
Description
Technical field
The utility model relates to a kind of robot application technology, a kind of specifically be applied to the iron and steel processing industry, purpose is intended to enhance productivity and strengthen the heavy section steel robot palletizer system of job safety coefficient.
Background technology
At present, the iron and steel processing industry of most domestic adopts manual work to carry out piling more, and degree of automation is very low.The shaped steel that the iron and steel processing industry is processed is slab structure, weight is big, size is big, and cost of labor is high in the production process, labor strength is very big and production efficiency is low, poor stability.
Usually, shaped steel is transported to the piling station by rollgang with shaped steel after steel processing device machine-shaping.The rollgang of piling station section is made up of some conveying rollers that laterally arrange.Position at the corresponding piling station of conveying roller is provided with the blanking rocking arm.Said blanking rocking arm comprise be fixed on conveying roller one side with propulsion source bonded assembly turning cylinder; Be provided with on the turning cylinder and stretch into the rocking arm between the conveying roller, an end of rocking arm is captiveed joint with turning cylinder, the hinged angled slide block of the other end of rocking arm; Angled slide block is a cuboid or trapezoid block structure; And the length of angled slide block is corresponding with the length of conveying roller, and the upper surface of angled slide block is the plane parallel with conveying roller, and angled slide block also is provided with the baffle plate that prevents that shaped steel from skidding off away from turning cylinder one end.During blanking swing arm work generally is to work a week around axle, so between conveying roller, also can cooperate the blanking swing arm that pit is set.Can turning cylinder all be set in the both sides of conveying roller according to place and production needs, swing arm arranged in a crossed manner and angled slide block between conveying roller, i.e. blanking swing arm is the form that bilateral ejects.At the auxiliary slide channel that a side setting of showing shaped steel of blanking swing arm is made up of some bevelled stainless steel struts, the end of auxiliary slide channel is provided with the groove of temporarily depositing shaped steel.
During work, shaped steel is after steel processing device machine-shaping, and the open slot of initial condition shaped steel moves on rollgang up.The workman controls the travelling speed of rollgang, makes shaped steel in the place's stop motion of piling station.The blanking swing arm of a certain side of manual activation then, the angled slide block of blanking swing arm rotates with the rocking arm moving axis that rotates, and shaped steel is swung on the auxiliary slide channel, and shaped steel slowly is slipped in the groove along auxiliary slide channel.Simultaneously, the blanking swing arm is rotated a week and is got back to initial position, after next shaped steel arrives the piling station, continues to start the blanking swing arm operation of this side, and shaped steel is transported to auxiliary slide channel.After the shaped steel in the groove reached some, the workman started the blanking swing arm of opposite side, in the groove of shaped steel with blanking swing arm slideway opposite side.Simultaneously the workman puts piling by instruments such as waddys in order to the shaped steel of having collected.
The utility model content
The utility model technical issues that need to address provide a kind of heavy section steel robot palletizer system that improves degree of automation, the lifting production efficiency and the safety of iron and steel operations and reduce working strength of workers.
For solving the problems of the technologies described above, the technical scheme that the utility model adopted is:
Heavy section steel robot palletizer system; Comprise rollgang, blanking rocking arm; Corresponding blanking swing arm is provided with the blanking registration device that shaped steel is carried out pre-determined bit between the conveying roller of said rollgang, is provided with by the primary conveyor of forming with the vertically arranged some sprocket wheel belt conveyor II of rollgang in the blanking side of shaped steel;
The both sides of primary conveyor respectively are provided with a robot palletizer; Robot palletizer comprises four degree of freedom; Be provided with in the bottom of robot palletizer by on the fixed guide of ground, doing of driving of actuating device near or away from the directions X mobile platform of the left and right directions motion of primary conveyor; On the directions X mobile platform, be provided with through what feed screw nut cooperated and do the Y direction mobile platform that seesaws along the primary conveyor throughput direction; Fixedly install two vertical supports parallel to each other on the Y direction mobile platform; Be provided with between the two vertical supports edge that cooperates through feed screw nut near or the Z direction mobile platform that moves up and down away from the primary conveyor direction, Z direction mobile platform middle part is provided with the electromagnetism adhesive manipulator that rotates around the X axle, a side of the corresponding primary conveyor of electromagnetism adhesive manipulator is provided with electromagnet; Monitoring X, Y, the displacement of Z direction and the displacement pickup of the angle of swaying are set respectively on the ground of corresponding directions X mobile platform, Y direction mobile platform, Z direction mobile platform, electromagnetism adhesive manipulator or the robot palletizer;
On each sprocket wheel belt conveyor II of primary conveyor one group of positioning baffle that shaped steel is positioned is set all; The positioning baffle place of two sprocket wheel belt conveyor II of the avris of primary conveyor also is provided with the position signal sensor that detects shaped steel location situation; The stacking conveyor that the afterbody one end setting of primary conveyor is made up of some parallel sprocket wheel belt conveyor I; Corresponding piling position is provided with piling erect-position signal transducer on two sprocket wheel belt conveyor I of stacking conveyor avris; Corresponding piling position is provided with the piling registration device between the sprocket wheel belt conveyor I of stacking conveyor, and corresponding beating is with the position setting to make tape station position signal transducer on two sprocket wheel belt conveyor I of stacking conveyor avris;
Said heavy section steel robot palletizer system also comprises kinetic control system.
The further improvement of the utility model is: the fixed guide of said robot palletizer below is an I-beam section; The upper surface of the upper strata wing plate of I-beam section is the plane; The upper surface of lower floor's wing plate of I-beam section is provided with tooth bar; The directions X mobile platform is provided with four roller boxs of walking that roll and cooperate with the upper surface of the upper strata wing plate of I-beam section; The midway location of directions X mobile platform bottom is provided with motor, and motor connects transmission shaft, and transmission shaft connects four gears that cooperate with the tooth bar of the upper surface of lower floor wing plate through universal-joint; At the fixed guide two ends inhibiting device is set, the displacement pickup of directions X is the laser range sensor that is arranged on the robot palletizer outside;
Y direction mobile platform is through the slide rail sliding block joint on four sliding shoes and the directions X mobile platform; The centre of directions X mobile platform is provided with the driving leading screw vertical with fixed guide of a perforation, and the bottom of Y direction mobile platform is provided with and drives the threads of lead screw nut engaged; The displacement pickup of Y direction is the laser range sensor that is arranged on an end of directions X mobile platform;
Z direction mobile platform is formed sliding block joint through the slide rail in the vertical support of four sliding shoes and Z direction; Motor-driven vertical driving band movable wire thick stick by the vertical support, top that is installed in the Z direction is set, the driving nut of one side setting of Z direction mobile platform and the transmission of driving band movable wire thick stick screw thread fit between the vertical support of Z direction; The limit switch of a restriction Z direction mobile platform limit shift position is respectively installed in vertical support two ends up and down; The displacement pickup of Z direction is the laser range sensor that is arranged on Z direction mobile platform top;
Electromagnetism adhesive manipulator comprises the deceleration motor that is arranged on Z direction mobile platform one side, and the deceleration motor connects rotating disc through S. A., is provided with on the rotating disc by the fixing electromagnet supporting plate of supporting plate bracing frame, fixedly installs electromagnet on the electromagnet supporting plate; Measuring the sway displacement pickup of angle of electromagnet is the angular transducer that is arranged on deceleration motor one side.
The further improvement of the utility model is: said sprocket wheel belt conveyor II comprises the main support II; One end of main support II is provided with the drive motor II; The mouth of drive motor II connects the drive sprocket II; The drive sprocket II connects the driven sprocket II of the midway location that is positioned at main support II respective ends through the driving chain II; The two ends of the sprocket shaft of driven sprocket II respectively are provided with a sprocket wheel II of rotating synchronously, and main support II other end correspondence position also is provided with two sprocket wheel II, connect the chain II between the cooresponding sprocket wheel II in main support II two ends.
The further improvement of the utility model is: said sprocket wheel belt conveyor I comprises the main support I; One end of main support I is provided with the drive motor I; The mouth of drive motor I connects the drive sprocket I; The drive sprocket I connects the driven sprocket I of the corresponding midway location of main support I through the driving chain I; The two ends of the sprocket shaft of driven sprocket I respectively are provided with two sprocket wheel I of rotating synchronously, and main support I other end correspondence position also is provided with four sprocket wheel I, connect the chain I between the cooresponding sprocket wheel I in main support I two ends.
The further improvement of the utility model is: the said main support II that is positioned at the sprocket wheel belt conveyor II of primary conveyor both sides, the lower end of main support I that is positioned at the sprocket wheel belt conveyor I of stacking conveyor both sides are respectively arranged with pulley II, pulley I, and the fixed rack II parallel with rollgang, the fixed rack I that cooperate with pulley II, pulley I are set on the ground respectively.
The further improvement of the utility model is: said piling registration device comprises fixed support; Support bracket fastened lower end is provided with and piling erect-position signal transducer bonded assembly stepping motor, and the setting of support bracket fastened upper end has two steppings that are the wing plate of 180 degree mutually with the stepping motor bonded assembly and revolves the butterfly that turn 90 degrees.
The further improvement of the utility model is: said blanking registration device comprises locating support; One side of locating support is provided with the positioning signal sensor that detects the shaped steel run location; The center of locating support is provided with the jacking cylinder; One electromagnet adapter plate is set above the jacking cylinder; The edge of electromagnet adapter plate is provided with plurality of vertical and linear axis electromagnet adapter plate sliding block joint, and the upper end of linear axis is fixed on the locating support, and the lower end of linear axis is provided with carries out spacing block to the electromagnet adapter plate.
Because the technological advance that has adopted technique scheme, the utility model to obtain is:
Extracting, carrying, piling process that the utility model is realized large shape have realized the mechanization and the automation of shaped steel piling, enhance productivity and economic benefit, significantly save labour power, reduce labour intensity, practice thrift cost.
The utility model cooperates rollgang, primary conveyor, stacking conveyor and registration device separately thereof through kinetic control system control robot palletizer; Accomplish the picking up of shaped steel, carrying, piling process, each parts of comprehensive application cooperate realizes automation and mechanization.Said primary conveyor, stacking conveyor use the drive controlling mode of separate unit motor; At first satisfy power demand, secondly simple in structure, be convenient to maintenance; And as required primary conveyor being designed to double-stranded bar conveying, stacking conveyor is designed to the multichain bar and carries.And the conveyor chain that will be positioned at both sides is designed to adjust the structure of spacing, is convenient to the piling transportation of the shaped steel of different model length.Said robot palletizer can move along X, Y, Z any direction as required, satisfies the demand of different model shaped steel, and is provided with rotatable electromagnetism adhesive manipulator, further satisfies the piling demand of the shaped steel that has groove structure.The setting of said piling registration device is the wing plate that 180 degree distribute, and carries out single according to Stepping Motor Control and revolves the motion that turn 90 degrees, and is reasonable in design, fully satisfied piling location, transfer passage, the needs of location once more.
The utility model only needs 3 operating personals, and the operating personal of a polishing shaped steel burr by name 2 is by namely beaten ribbon gymnastics and done personnel in addition.Not only save labour power, the design of integrated automation and mechanization also greatly reduces labour intensity, has improved production efficiency.
Description of drawings
Fig. 1 is the integral structure scheme drawing of the utility model;
Fig. 2 is the structural representation of the robot palletizer of the utility model;
Fig. 3 is the structural representation of sprocket wheel belt conveyor II of the primary conveyor of the utility model;
Fig. 4 is the structural representation of sprocket wheel belt conveyor I of the stacking conveyor of the utility model;
Fig. 5 is the structural representation of the blanking registration device of the utility model;
Fig. 6 is the structural representation of the piling registration device of the utility model;
Fig. 7 is the structural representation of the electromagnetism adhesive manipulator of the utility model.
Wherein, 1, robot palletizer, 2, stacking conveyor, 3, the piling registration device, 4, primary conveyor, 5, blanking rocking arm; 6, conveying roller, 7, the blanking registration device, 8, shaped steel, 9, kinetic control system, 101, motor, 102, transmission shaft; 103, walk roller box, 104, laser range sensor, 106, nut, 107, drive leading screw, 108, the directions X mobile platform, 109, Y direction mobile platform; 110, vertical support, 111, Z direction mobile platform, 112, gear, 113, driving band movable wire thick stick, 114, driving nut, 115, fixed guide; 116, universal-joint, 201, the main support I, 202, the fixed rack I, 203, the pulley I, 205, the drive sprocket I, 206, the driving chain I; 207, drive motor I, 209, make tape station position signal transducer, 210, piling erect-position signal transducer, 401, the main support II, 402, the fixed rack II; 403, pulley II, 405, the drive sprocket II, 406, the driving chain II, 407, the drive motor II, 409, the position signal sensor; 410, positioning baffle, 701, locating support, 703, linear axis, 704, the jacking cylinder, 707, the positioning signal sensor; 708, electromagnet adapter plate, 301, stepping motor, 302, wing plate, 303, fixed support, 1201, electromagnet; 1202, electromagnet supporting plate, 1203, the supporting plate bracing frame, 1204, rotating disc, 1207, the deceleration motor, 1209, S. A..
The specific embodiment
Below in conjunction with accompanying drawing the utility model is explained further details:
Heavy section steel robot palletizer system shown in Fig. 1～7, comprises being arranged on rollgang, blanking registration device 7, blanking Rocker arm 5, also comprises primary conveyor 4, robot palletizer 1, stacking conveyor 2, kinetic control system 9.Said primary conveyor 4 is arranged in the outgoing side of blanking Rocker arm 5, and primary conveyor 4 both sides respectively are provided with a robot palletizer 1, and afterbody one end of primary conveyor 4 is provided with stacking conveyor 2.Described kinetic control system comprises industrial control computer, motion control card, data acquisition card and servo drive unit.Kinetic control system is connected with each several part, and unified control scheduling robot palletizer cooperates each several part to accomplish operations such as the picking up of shaped steel, location, piling.
As shown in Figure 1, shaped steel is transported to the piling station by rollgang with shaped steel after steel processing device machine-shaping.The rollgang of piling station section is made up of some conveying rollers that laterally arrange 6.Position at the corresponding piling station of conveying roller is provided with blanking registration device 7 and blanking Rocker arm 5.Said blanking registration device 7 comprises locating support 701; One side of locating support is provided with the positioning signal sensor 707 that detects the shaped steel run location; The center of locating support is provided with jacking cylinder 704, the electromagnet adapter plate 708 that the top installation of jacking cylinder slides up and down along linear axis, and the linear axis 703 of plurality of vertical is arranged on the edge of electromagnet adapter plate 708; The upper end of linear axis is fixed on the locating support 701, and the lower end of linear axis is provided with carries out spacing block to the electromagnet adapter plate.Said blanking Rocker arm 5 comprise be fixed on conveying roller one side with propulsion source bonded assembly turning cylinder; Be provided with on the turning cylinder and stretch into the rocking arm between the conveying roller, an end of rocking arm is captiveed joint with turning cylinder, the hinged angled slide block of the other end of rocking arm; Angled slide block is a cuboid or trapezoid block structure; And the length of angled slide block is corresponding with the length of conveying roller, and the upper surface of angled slide block is the plane parallel with conveying roller, and angled slide block also is provided with the baffle plate that prevents that shaped steel from skidding off away from turning cylinder one end.
All vertical with conveying roller setting of being made up of three sprocket wheel belt conveyor II of 4, three sprocket wheel belt conveyor of primary conveyor II is set in shaped steel blanking side.Said sprocket wheel belt conveyor II is as shown in Figure 3; Comprise main support II 401; One end of main support II is provided with drive motor II 407; The mouth of drive motor II connects drive sprocket II 405, and the drive sprocket II is through the driven sprocket II of the midway location of driving chain II 406 connection main support respective ends, and the two ends of the sprocket shaft of driven sprocket II respectively are provided with a sprocket wheel II of rotating synchronously; Main support II other end correspondence position also is provided with two sprocket wheel II, connects the chain II between the cooresponding sprocket wheel II in main support II two ends.
On each sprocket wheel belt conveyor II of primary conveyor one group of positioning baffle 410 that shaped steel is positioned is set all, each positioning baffle is positioned at the position of the transportation tail of sprocket wheel belt conveyor II, and between two robot palletizers, is straight line.The positioning baffle place of two sprocket wheel belt conveyor II of the avris of primary conveyor also is provided with position signal sensor 409, is used for perception shaped steel and picks up work to transmit signal to robot palletizer.
As shown in Figure 2, the robot palletizer of primary conveyor both sides has four degree of freedom.In the bottom of robot palletizer directions X mobile platform 108 is set, the directions X mobile platform laterally arranges with rollgang on the fixed guide on ground fixed guide 115.Fixed guide is set to I-beam section, and the upper surface of the upper strata wing plate of I-beam section is the plane, and the upper surface of lower floor's wing plate is a tooth bar.Be provided with below the directions X mobile platform four contact with the upper strata plane rolling of I-beam section walk roller box 103; Middle part below the directions X mobile platform is provided with motor 101; Motor connects transmission shaft 102, and transmission shaft connects four gears that cooperate with tooth bar through universal-joint 116.At fixed guide 115 two ends inhibiting device is installed, is used for the shift position of directions X mobile platform is limited, can be arranged to the form of fixed stop.The displacement pickup of directions X is to be arranged on the robot palletizer outside laser range sensor 104 that detects the directions X displacement respectively is set.Motor driven gear and tooth bar engagement are walked roller box and are driven the scrolling realization side-to-side movement on fixed guide of directions X mobile platform.
On directions X mobile platform 108, be provided with through the cooperation of leading screw slide block and do the Y direction mobile platform 109 that seesaws along the primary conveyor throughput direction.Y direction mobile platform 109 forms sliding block joint through the slide rail of four sliding shoes and directions X mobile platform 108 both sides.The centre of directions X mobile platform is provided with a driving leading screw 107 vertical with fixed guide, and the bottom of Y direction mobile platform is provided with and drives leading screw nut engaged 106.End at the directions X mobile platform is provided with the laser range sensor 104 that detects the displacement of Y direction.Driven by motor drives leading screw 107 and rotates, and the nut 106 of Y direction mobile platform bottom cooperates with driving leading screw 107, and Y direction mobile platform 109 seesaws along the Y direction through four sliding shoes.
Fixedly install on the Y direction mobile platform two parallel vertical supports 110, two be provided with between supporting through feed screw nut cooperate along near or the Z direction mobile platform 111 that moves up and down away from the primary conveyor direction.Z direction mobile platform 111 is formed sliding block joint through the vertical support 110 of four sliding shoes and Z direction.Vertical driving band movable wire thick stick 113 is set between the vertical support of Z direction, and driving band movable wire thick stick 113 is by the motor-driven that is installed in the top.One side of the corresponding driving band movable wire of Z direction mobile platform thick stick 113 is provided with driving nut 114, and driving nut 114 and driving band movable wire thick stick 113 screws thread fit drive Z direction mobile platform 111 up-and-down movements.A limit switch is respectively installed in vertical support up and down, the displacement of restriction Z direction mobile platform.The laser range sensor 104 that detects the displacement of Z direction is set on Z direction mobile platform top.
Be provided with on the Z direction mobile platform and do the electromagnetism adhesive manipulator that rotatablely moves around the X axle, a side of the corresponding conveyer of electromagnetism adhesive manipulator is provided with electromagnet.Electromagnetism adhesive manipulator comprises the deceleration motor 1207 that is arranged on Z direction mobile platform one side; Deceleration motor 1207 connects rotating disc 1204 through S. A. 1209; The electromagnet supporting plate of being fixed by supporting plate bracing frame 1,203 1202 is set on the rotating disc 1204; Electromagnet 1201 is set on the electromagnet supporting plate 1202, and the end of deceleration motor 1,207 one sides is provided with the angular transducer that detects rotational angle.
The stacking conveyor that the afterbody one end setting of primary conveyor is made up of four parallel sprocket wheel belt conveyor I; Corresponding piling position is provided with piling erect-position signal transducer 210 on two sprocket wheel belt conveyor I of stacking conveyor avris; Corresponding beating is with the position setting to make tape station position signal transducer 209 on two sprocket wheel belt conveyor I of stacking conveyor avris, between some sprocket wheel belt conveyor I of stacking conveyor one group of piling registration device that the piling position is positioned is set.Piling erect-position signal transducer 210 is near primary conveyor one end, and beats the end of tape station position signal transducer 209 near stacking conveyor, and the piling registration device is then at piling erect-position signal transducer 210 and beat between the tape station position signal transducer 209.Said piling registration device is as shown in Figure 6; Comprise fixed support 303, support bracket fastened lower end is provided with stepping motor 301, and stepping motor is connected with piling erect-position signal transducer 210; Support bracket fastened upper end is provided with butterfly, and butterfly has two wing plates 302 that are 180 degree mutually.Stepping motor is exported control signal according to piling erect-position signal transducer 210 detected piling erect-position information, and butterfly is used for the piling position is positioned with the form rotation of stepping 90 degree.
Said sprocket wheel belt conveyor I is as shown in Figure 4; Its structure and sprocket wheel belt conveyor II are similar; Comprise main support I 201, drive motor I 207, drive sprocket I 205, driving chain I 206; One end of main support I is provided with drive motor I 207, and the mouth of drive motor I connects drive sprocket I 205, and the drive sprocket I connects the driven sprocket I of the corresponding midway location of main support I through driving chain I 206.Just owing to need drive into the shaped steel motion of buttress; Need bigger takeoff output; So the two ends of the sprocket shaft of driven sprocket I respectively are provided with two sprocket wheel I of rotating synchronously; Main support I other end correspondence position also is provided with four sprocket wheel I, connects the chain I between the cooresponding sprocket wheel I in main support I two ends.
The said main support II that is positioned at the sprocket wheel belt conveyor II of primary conveyor both sides, the lower end of main support I that is positioned at the sprocket wheel belt conveyor I of stacking conveyor both sides are respectively arranged with pulley II 403, pulley I 203, and the fixed rack II 402 parallel with rollgang, the fixed rack I 202 that cooperate with pulley II 403, pulley I 203 are set on the ground respectively.The length specification adjustment sprocket wheel belt conveyor II according to shaped steel, the spacing of sprocket wheel belt conveyor I are convenient in this setting.
The mode of operation and the implementation step of the utility model are following:
At first before work, on kinetic control system input to produce the thickness, width of shaped steel, highly, length and piling form.Regulate spacing and the primary conveyor of robot palletizer, the position of stacking conveyor according to the variation of shaped steel product degree subsequently.Carry out through sprocket wheel belt conveyor II, the position of sprocket wheel belt conveyor I on fixed rack II, fixed rack I of manual shift both sides the position of conveyer.And the distance between two robot palletizers 1 of directions X is regulated through the laser range sensor of directions X.When shaped steel length increases, the mutual distance of adjustment robot palletizer 1 earlier, the position that primary conveyor, stacking conveyor are moved in the back adjustment; When shaped steel length reduced, the position of primary conveyor, stacking conveyor was moved in adjustment earlier, the spacing of back adjustment robot palletizer 1.
During work, shaped steel through steel add send the apparatus processing moulding after, the open slot of initial condition shaped steel up, directions X moves in the rollgang upper edge.In the rollgang center blanking registration device 7 is installed, when positioning signal sensor 707 detected the center of shaped steel length, kinetic control system control rollgang stopped.Jacking cylinder 704 in the blanking registration device 7 holds the bottom of shaped steel with electromagnet adapter plate 708 jack-up of energising, makes shaped steel stop to move.The Rocker arm 5 of blanking simultaneously rotates, and shaped steel is placed on the primary conveyor 4.The primary conveyor entry into service; Drive motor II 407 drives driving chain II 406 through drive sprocket II 405 makes shaped steel move along the Y direction; Positioning baffle 410 on the primary conveyor blocks shaped steel, and position signal sensor 409 has located shaped steel for the kinetic control system signal prompt simultaneously.Kinetic control system control robot palletizer 1 ° faces down electromagnetic actuation electromagnetism adhesive manipulator 120 Rotate 180s.Subsequently, robot palletizer 1 moves to take-off location in the Y direction.Then, Z direction mobile platform 111 moves down, the electromagnet energising on the electromagnetism adhesive manipulator, and groove width face in the shaped steel is lived in adhesive.Afterwards, Z direction mobile platform 111 moves up, and robot palletizer 1 moves along Y direction driving leading screw and moves to the piling position.Z direction mobile platform 111 descends, and the shaped steel opening upwards is placed into the piling zone, the electromagnet outage.Robot palletizer 1 returns take-off location then, and electromagnetism adhesive this moment manipulator is positioned at the top of shaped steel, and adhesive faces down, and with electromagnetism adhesive manipulator Rotate 180 °, electromagnetism adhesive manipulator is positioned at the below of shaped steel, and electromagnetic actuation is towards last.To the electromagnet energising, the bottom surface of shaped steel is lived in adhesive.Z direction mobile platform 111 moves up, and stops to move behind the limit switch on triggering support post top.Electromagnetism adhesive manipulator Rotate 180 ° then makes the open slot faces downwards of shaped steel.Robot palletizer 1 moves to the piling position subsequently, and the shaped steel that a shaped steel that open slot is downward and a last open slot make progress fastens.After having fastened, robot palletizer 1 is accomplished group job action, carries out next group actuation cycle then.Wherein, the position of piling can be confirmed by kinetic control system according to the testing result of sensor, so that the stacking shaped steel that becomes to pile up.After shaped steel was accomplished piling on request, the butterfly in the piling registration device 3 drove 90 ° of downward clickwises at stepping motor 301, and butterfly is parallel to the ground, and the shaped steel of accomplishing piling promptly can move with stacking conveyor.The control stacking conveyor is started working, and after sign indicating number is become the shaped steel of a buttress to move to beat the band position, triggers and makes tape station position signal transducer, and stacking conveyor quits work, and the piling butterfly clickwise of locating is 90 ° then, and butterfly is perpendicular to the ground.The shaped steel of the good buttress of sign indicating number is played band by manual work after moving to and beating the band position, play the band completion after, will beat by overhead traveling crane and to be with shaped steel well to hang appointed positions, accomplish a work cycle.Prepare next working cycle then.
Need to prove; The installation position speech of parts such as the utility model described " upper and lower ", " forward and backward ", " left and right " is to illustrate according to embodiment; Only having relativism, perhaps only is in order to narrate conveniently, not represent the uniqueness of this installation site.Present embodiment can be done as required fully and nonessentially suitably adjust and change.
Claims (7)
1. heavy section steel robot palletizer system; Comprise rollgang, blanking rocking arm (5); It is characterized in that: corresponding blanking swing arm is provided with the blanking registration device (7) that shaped steel is carried out pre-determined bit between the conveying roller of said rollgang, is provided with by the primary conveyor of forming with the vertically arranged some sprocket wheel belt conveyor II of rollgang (4) in the blanking side of shaped steel;
The both sides of primary conveyor respectively are provided with a robot palletizer (1); Robot palletizer comprises four degree of freedom; Be provided with in the bottom of robot palletizer (1) by on the fixed guide of ground, doing of driving of actuating device near or away from the directions X mobile platform (108) of the left and right directions motion of primary conveyor (4); Go up setting at directions X mobile platform (108) and do the Y direction mobile platform (109) that seesaws along primary conveyor (4) throughput direction through what feed screw nut cooperated; Fixedly install two vertical supports (110) parallel to each other on the Y direction mobile platform (109); Be provided with between the two vertical supports through the feed screw nut cooperation the edge near or the Z direction mobile platform (111) that moves up and down away from primary conveyor (4) direction; Z direction mobile platform (111) middle part is provided with the electromagnetism adhesive manipulator that rotates around the X axle, and a side of the corresponding primary conveyor of electromagnetism adhesive manipulator is provided with electromagnet (1201); Monitoring X, Y, the displacement of Z direction and the displacement pickup of the angle of swaying are set respectively on the ground of corresponding directions X mobile platform, Y direction mobile platform, Z direction mobile platform, electromagnetism adhesive manipulator or the robot palletizer;
On each sprocket wheel belt conveyor II of primary conveyor (4) one group of positioning baffle that shaped steel is positioned (410) is set all; The positioning baffle place of two sprocket wheel belt conveyor II of the avris of primary conveyor (4) also is provided with the position signal sensor (409) that detects shaped steel (8) location situation; The stacking conveyor (2) that the afterbody one end setting of primary conveyor (4) is made up of some parallel sprocket wheel belt conveyor I; Corresponding piling position is provided with piling erect-position signal transducer (210) on two sprocket wheel belt conveyor I of stacking conveyor avris; Corresponding piling position is provided with the piling registration device between the sprocket wheel belt conveyor I of stacking conveyor, and corresponding beating is with the position setting to make tape station position signal transducer (209) on two sprocket wheel belt conveyor I of stacking conveyor avris;
Said heavy section steel robot palletizer system also comprises kinetic control system (9).
2. heavy section steel robot palletizer according to claim 1 system; It is characterized in that: the fixed guide (115) of said robot palletizer (1) below is an I-beam section; The upper surface of the upper strata wing plate of I-beam section is the plane; The upper surface of lower floor's wing plate of I-beam section is provided with tooth bar, directions X mobile platform (108) be provided with four with the upper surface of the upper strata wing plate of I-beam section roll cooperates walk roller box (103), the midway location bottom the directions X mobile platform (108) is provided with motor (101); Motor connects transmission shaft (102), and transmission shaft connects four gears that cooperate with the tooth bar of the upper surface of lower floor wing plate through universal-joint (116); At fixed guide (115) two ends inhibiting device is set, the displacement pickup of directions X is the laser range sensor (104) that is arranged on the robot palletizer outside;
Y direction mobile platform (109) is through the slide rail sliding block joint on four sliding shoes and the directions X mobile platform (108); The centre of directions X mobile platform (108) is provided with the driving leading screw (107) vertical with fixed guide (115) of a perforation, and the bottom of Y direction mobile platform (109) is provided with and drives threads of lead screw nut engaged (106); The displacement pickup of Y direction is the laser range sensor that is arranged on an end of directions X mobile platform;
Z direction mobile platform (111) is formed sliding block joint through the slide rail in the vertical support (110) of four sliding shoes and Z direction; Motor-driven vertical driving band movable wire thick stick (113) by vertical support (110) top that is installed in the Z direction is set, the driving nut (114) of one side setting of Z direction mobile platform and driving band movable wire thick stick (113) screw thread fit transmission between the vertical support of Z direction; The limit switch of a restriction Z direction mobile platform limit shift position is respectively installed in vertical support (110) two ends up and down; The displacement pickup of Z direction is the laser range sensor that is arranged on Z direction mobile platform top;
Electromagnetism adhesive manipulator comprises the deceleration motor (1207) that is arranged on Z direction mobile platform one side; Deceleration motor (1207) connects rotating disc (1204) through S. A.; Be provided with on the rotating disc by the fixing electromagnet supporting plate (1202) of supporting plate bracing frame (1203), fixedly install electromagnet (1201) on the electromagnet supporting plate (1202); Measure electromagnet (1201) and sway the displacement pickup of angle for being arranged on the angular transducer of deceleration motor (1207) one sides.
3. heavy section steel robot palletizer according to claim 1 and 2 system; It is characterized in that: said sprocket wheel belt conveyor II comprises main support II (401); One end of main support II is provided with drive motor II (407); The mouth of drive motor II connects drive sprocket II (405), and the drive sprocket II connects the driven sprocket II of the midway location that is positioned at main support II respective ends through driving chain II (406), and the two ends of the sprocket shaft of driven sprocket II respectively are provided with a sprocket wheel II of rotation synchronously; Main support II other end correspondence position also is provided with two sprocket wheel II, connects the chain II between the cooresponding sprocket wheel II in main support II two ends.
4. heavy section steel robot palletizer according to claim 1 and 2 system; It is characterized in that: said sprocket wheel belt conveyor I comprises main support I (201); One end of main support I is provided with drive motor I (207); The mouth of drive motor I connects drive sprocket I (205), and the drive sprocket I is through the driven sprocket I of the corresponding midway location of driving chain I (206) connection main support I, and the two ends of the sprocket shaft of driven sprocket I respectively are provided with two sprocket wheel I of rotating synchronously; Main support I other end correspondence position also is provided with four sprocket wheel I, connects the chain I between the cooresponding sprocket wheel I in main support I two ends.
5. heavy section steel robot palletizer according to claim 1 system; It is characterized in that: the said main support II that is positioned at the sprocket wheel belt conveyor II of primary conveyor both sides, the lower end of main support I that is positioned at the sprocket wheel belt conveyor I of stacking conveyor both sides are respectively arranged with pulley II (403), pulley I (203), and the fixed rack II (402) parallel with rollgang, the fixed rack I (202) that cooperate with pulley II (403), pulley I (203) are set on the ground respectively.
6. heavy section steel robot palletizer according to claim 1 system; It is characterized in that: said piling registration device comprises fixed support (303); Support bracket fastened lower end is provided with and piling erect-position signal transducer bonded assembly stepping motor (301), and the setting of support bracket fastened upper end has two steppings that are the wing plate (302) of 180 degree mutually with the stepping motor bonded assembly and revolves the butterfly that turn 90 degrees.
7. heavy section steel robot palletizer according to claim 1 system; It is characterized in that: said blanking registration device (7) comprises locating support (701); One side of locating support (701) is provided with the positioning signal sensor (707) that detects the shaped steel run location; The center of locating support (701) is provided with jacking cylinder (704); One electromagnet adapter plate (708) is set above the jacking cylinder; The edge of electromagnet adapter plate is provided with plurality of vertical and linear axis electromagnet adapter plate sliding block joint (703), and the upper end of linear axis (703) is fixed on the locating support (701), and the lower end of linear axis (703) is provided with carries out spacing block to the electromagnet adapter plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200203290U CN202481767U (en) | 2012-01-17 | 2012-01-17 | Heavy section steel robot palletizer system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200203290U CN202481767U (en) | 2012-01-17 | 2012-01-17 | Heavy section steel robot palletizer system |
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| CN202481767U true CN202481767U (en) | 2012-10-10 |
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| CN2012200203290U Expired - Fee Related CN202481767U (en) | 2012-01-17 | 2012-01-17 | Heavy section steel robot palletizer system |
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