CN205996962U - Stacking machine mechanical arm balances pretensioner systems - Google Patents
Stacking machine mechanical arm balances pretensioner systems Download PDFInfo
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- CN205996962U CN205996962U CN201621034441.4U CN201621034441U CN205996962U CN 205996962 U CN205996962 U CN 205996962U CN 201621034441 U CN201621034441 U CN 201621034441U CN 205996962 U CN205996962 U CN 205996962U
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 239000000725 suspension Substances 0.000 claims description 38
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000004044 response Effects 0.000 abstract description 5
- 229910000831 Steel Inorganic materials 0.000 description 13
- 239000010959 steel Substances 0.000 description 13
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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Abstract
This utility model discloses a kind of stacking machine mechanical arm balance pretensioner systems, mainly for the problem that the stacking machine arm response speed under prior art is slow, propose a kind of stacking machine mechanical arm balance pretensioner systems that can improve stacking machine arm response speed, the bascule including the frame arm hinged with described frame and for balance portion or the deadweight of whole arm and/or load；Wherein, described frame includes vertical section and the horizontal segment being connected with described vertical section, and described arm is hinged with described horizontal segment front end；Described bascule includes two ends elastic mechanism hinged with described arm and described vertical section respectively and the governor motion for regulation elasticity mechanism elastic force.This utility model makes arm be in close to the state balancing by elastic mechanism, and when driving arm, arm can respond rapidly to, and movement velocity is fast.
Description
Technical Field
The utility model relates to a balanced pretension system of hacking machine robotic arm.
Background
After the section steel is rolled, cooled, sized and straightened, the section steel is pushed and stacked according to a certain mode to deliver products to customers according to the requirements of standard and market commodity steel packaging specifications so as to realize material storage, transportation, loading, unloading, transportation and other logistics activities. The high-speed stacking manipulator of section bar should adopt swing arm structure, and accurate control and location can be realized to rigid swing arm, and this kind of swing arm structure working process is as follows: the driving element drives the swing arm to move through the connecting rod, and the swing arm can swing forwards to a steel receiving position to absorb the grouped section steel and swing back to a stacking position to stack the section steel. However, the mechanical structure still has the following problems: firstly, the swing arm has heavy weight and large inertia, the required driving torque is large, and the swing arm moves slowly; secondly, a gap exists at the hinged part of the mechanical system, the swing arm shakes in the front-back swing process, and the positioning precision is low; and thirdly, the connecting rod bears larger pressure in the swinging process of the swing arm, so that the diameter of the connecting rod must be larger to avoid the instability of the pressure rod, the mass of an action part is further increased, and the dynamic response speed is slowed down.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model provides a balance pretension system of hacking machine robotic arm who offsets davit and/or load weight.
In order to achieve the purpose, the utility model discloses the balanced pretension system of hacking machine robotic arm includes the frame, with the davit of frame articulated and be used for balancing some or whole davit dead weight and/or the balancing unit of load; wherein,
the frame comprises a vertical section and a horizontal section connected with the vertical section, and the suspension arm is hinged with the front end of the horizontal section;
the balance device comprises an elastic mechanism and an adjusting mechanism, wherein two ends of the elastic mechanism are respectively hinged with the suspension arm and the vertical section, and the adjusting mechanism is used for adjusting the elasticity of the elastic mechanism.
Further, the elastic mechanism comprises a balance cylinder and an air bag communicated with an air inlet of the balance cylinder, and the adjusting mechanism comprises an air source and an air source processing element for communicating the source and the air bag; and the telescopic rod and the cylinder body of the balance cylinder are respectively hinged with the suspension arm and the vertical section.
Specifically, a pressure reducing valve or a pressure regulating valve is arranged on the air bag.
Specifically, the air bag is provided with an air pressure gauge for measuring air pressure of the air bag.
Further, the balance moment applied to the suspension arm by the elastic mechanism is not less than the self weight of the suspension arm and the moment applied to the suspension arm by the load.
Specifically, the balance cylinder passes through the balance pipeline intercommunication with the gas package, be provided with first valve on the balance pipeline, the gas package with communicate through the gas supply line between the air supply, be provided with the second valve on the gas supply line.
Furthermore, the elastic mechanism comprises a crank arm hinged to the vertical section, one arm of the crank arm is hinged to a telescopic rod of a balance cylinder, a cylinder body of the balance cylinder is hinged to the vertical section, the other arm of the crank arm is hinged to one end of a balance connecting rod, and the other end of the balance connecting rod is hinged to the suspension arm.
Specifically, the elastic mechanism further comprises an air bag communicated with the balance cylinder; the adjusting mechanism comprises an air source communicated with the air bag through an air source processing element.
Specifically, the length ratio of two arms of the crank arm is not less than 2: 1; the long arm is hinged to the connecting rod, and the short arm is hinged to the telescopic rod of the balance cylinder.
Specifically, the moment generated by the balance connecting rod to the suspension arm is not less than the self weight of the suspension arm and the moment generated by a load to the suspension arm.
The utility model discloses the balanced pretension system of hacking machine robotic arm adopts the weight of balanced davit of balancing unit and load, like this, makes the davit be in a state that is close to balance, when the davit atress, can quick response, rapid movement. Meanwhile, as the suspension arm is in a state close to balance, the force required for driving the suspension arm is reduced, and the suspension arm can be driven to move by using a driving device with smaller power.
Drawings
Fig. 1 is the structural schematic diagram of the mechanical arm balance pre-tightening system of the stacker crane of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the stacker crane mechanical arm balance pre-tightening system comprises a frame, a boom hinged with the frame and a balancing device for balancing partial or all of the self weight and/or load of the boom; wherein,
the frame comprises a vertical section and a horizontal section connected with the vertical section, and the suspension arm is hinged with the front end of the horizontal section;
the balance device comprises an elastic mechanism and an adjusting mechanism, wherein two ends of the elastic mechanism are respectively hinged with the suspension arm and the vertical section, and the adjusting mechanism is used for adjusting the elasticity of the elastic mechanism.
The elastic mechanism comprises a balance cylinder 501 and an air bag 510 communicated with an air inlet of the balance cylinder 501, and the adjusting mechanism comprises an air source 516 and an air source processing element 512 for communicating the source with the air bag 510; the telescopic rod and the cylinder body of the balance cylinder 501 are hinged to the suspension arm and the vertical section respectively.
The air bag 510 is provided with a pressure reducing valve or a pressure regulating valve.
The air bag 510 is provided with an air pressure gauge 511 for measuring the air pressure of the air bag 510.
Balance cylinder 501 and gas bag 510 are through balanced pipeline intercommunication, be provided with first valve on the balanced pipeline, gas bag 510 with communicate through the gas supply line between the air supply 516, the last second valve that is provided with of gas supply line.
The embodiment comprises a stacking manipulator rack 1, a swing arm 2, a driving connecting rod 3, a balance cylinder 501 and an air supply system thereof. The swing arm 2 is suspended below the stacking manipulator frame body 1 and can rotate around an upper shaft of the frame body 1, the driving connecting rod is hinged with the swing arm 2, and the swing arm 2 is driven to rotate under the action of a driving element; the balance cylinder 501 is installed between the swing arm 2 and the frame body 1, and supports the self weight of the swing arm in the action process of the swing arm 2.
The air supply system comprises an air source 516, an air bag 510, an air pressure gauge 511, an air source processing element 512, a welded steel pipe 503 and a ball valve 513, wherein the air source 516 stores compressed air into the air bag 510 through a reducing joint 515, the welded steel pipe 514, the ball valve 513 and the air source processing element 512, the ball valve 513 can be manually adjusted to inflate the air bag 510, and a pressure reducing valve or a pressure regulating valve on the air bag 510 can also be adjusted to deflate.
The air bag 510 is provided with an air pressure gauge 511, and the air pressure value of the air bag 510 can be read in real time;
the cylinder air inlet unit 502 is connected with an air bag 510 through a welded steel pipe 503, a reducing pipe joint 504, a welded steel pipe 505, a ball valve 506, a movable joint 507 welded steel pipe 508 and a reducing pipe joint 509, and the ball valve 506 can be manually closed or opened so as to control an air transmission channel between the air bag 510 and the balance cylinder 501.
The air bag 510 is arranged at the side of the stacking manipulator frame body 1 or at a position close to the stacking manipulator frame body 1, and the ball valve 506 between the air bag 510 and the air cylinder is arranged at a position on the frame body 1 convenient to operate.
The balance pre-tightening system for the mechanical arm of the stacker crane adopts the balance device to balance the weight of the suspension arm and the load, so that the suspension arm is in a state close to balance, and when the suspension arm is stressed, the suspension arm can respond quickly and move quickly. Meanwhile, as the suspension arm is in a state close to balance, the force required for driving the suspension arm is reduced, and the suspension arm can be driven to move by using a driving device with smaller power.
Example 2
On the basis of the above embodiment, the balance moment applied to the boom by the elastic mechanism is not less than the self weight of the boom and the moment applied to the boom by the load.
The pressure in the air bag 510 of this embodiment should be such that: firstly, the balance moment generated by the thrust of the balance cylinder 501 is slightly larger than the maximum load resisting moment generated by the self-weight in the motion process of the swing arm, and secondly, the pressure of the air bag 510 is basically unchanged in the whole driving process.
Under the two conditions, the swing arm does not have the action of the driving connecting rod, and swings to the foremost position under the thrust of the balance cylinder 501, so that the stress of the driving connecting rod is changed from original compression to tension, and the phenomenon of instability of the compression bar is avoided; after the swing arm 2 is connected with steel in a front swing mode, the weight of steel is increased, the swing arm swings back due to the fact that the load moment is increased, and the pulling force of the driving connecting rod is reduced; in the action process of the swing arm 2, the balance cylinder 501 is always in a thrust state, the driving pull rod is always in a tension state, and the stress of the connecting component is not reversed, so that the influence of a gap at the hinged position is eliminated.
According to the analysis, the self-weight of the swing arm can be effectively balanced, the stress condition of the pull rod is improved, the response speed of the swing arm is increased, the movement clearance of a mechanical system is eliminated, and the movement precision of the swing arm is further ensured.
Example 3
This embodiment provides another kind of elastic mechanism's arrangement, elastic mechanism include with articulate the turning arm on the vertical section, one of them arm of turning arm is articulated with the telescopic link of balanced cylinder, the cylinder body of balanced cylinder with the vertical section is articulated, another arm of turning arm is articulated with one end of balanced connecting rod, the other end of balanced connecting rod with the davit is articulated.
The elastic mechanism also comprises an air bag communicated with the balance cylinder; the adjusting mechanism comprises an air source communicated with the air bag through an air source processing element.
The length ratio of two arms of the crank arm is not less than 2: 1; the long arm is hinged to the connecting rod, and the short arm is hinged to the telescopic rod of the balance cylinder.
The moment generated by the balance connecting rod to the suspension arm is not less than the self weight of the suspension arm and the moment generated by a load to the suspension arm.
This embodiment realizes the pretension balance of davit through turning arm and balanced connecting rod, like this, can adopt less power to balance the davit, simultaneously, can also change the direction of cylinder elasticity through the turning arm, can set up the cylinder in convenient position.
The above is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (10)
1. The utility model provides a balanced pretension system of hacking machine robotic arm which characterized in that: the device comprises a frame, a suspension arm hinged with the frame and a balancing device for balancing the dead weight and/or load of part or all of the suspension arm; wherein,
the frame comprises a vertical section and a horizontal section connected with the vertical section, and the suspension arm is hinged with the front end of the horizontal section;
the balance device comprises an elastic mechanism and an adjusting mechanism, wherein two ends of the elastic mechanism are respectively hinged with the suspension arm and the vertical section, and the adjusting mechanism is used for adjusting the elasticity of the elastic mechanism.
2. The stacker robot balance pretensioning system of claim 1, wherein: the elastic mechanism comprises a balance cylinder and an air bag communicated with an air inlet of the balance cylinder, and the adjusting mechanism comprises an air source and an air source processing element for communicating the source and the air bag; and the telescopic rod and the cylinder body of the balance cylinder are respectively hinged with the suspension arm and the vertical section.
3. The stacker robot balance pretensioning system of claim 2, wherein: the air bag is provided with a pressure reducing valve or a pressure regulating valve.
4. A stacker robot balance pretensioning system according to claim 2 or 3, wherein: and the air bag is provided with an air pressure gauge for measuring the air pressure of the air bag.
5. The stacker robot balance pretensioning system of claim 1, wherein: the balance moment applied to the suspension arm by the elastic mechanism is not less than the self weight of the suspension arm and the moment applied to the suspension arm by the load.
6. A stacker robot balance pretensioning system according to claim 2 or 3, wherein: the balance cylinder and the air bag are communicated through a balance pipeline, a first valve is arranged on the balance pipeline, the air bag is communicated with the air source through an air supply pipeline, and a second valve is arranged on the air supply pipeline.
7. The stacker robot balance pretensioning system of claim 1, wherein: the elastic mechanism comprises a crank arm hinged on the vertical section, one arm of the crank arm is hinged with a telescopic rod of the balance cylinder, a cylinder body of the balance cylinder is hinged with the vertical section, the other arm of the crank arm is hinged with one end of the balance connecting rod, and the other end of the balance connecting rod is hinged with the suspension arm.
8. The stacker robot balance pretensioning system of claim 7, wherein: the elastic mechanism also comprises an air bag communicated with the balance cylinder; the adjusting mechanism comprises an air source communicated with the air bag through an air source processing element.
9. The stacker robot balance pretensioning system of claim 7, wherein: the length ratio of two arms of the crank arm is not less than 2: 1; the long arm is hinged to the connecting rod, and the short arm is hinged to the telescopic rod of the balance cylinder.
10. The stacker robot balance pretensioning system of claim 7, wherein: the moment generated by the balance connecting rod to the suspension arm is not less than the self weight of the suspension arm and the moment generated by a load to the suspension arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621034441.4U CN205996962U (en) | 2016-08-31 | 2016-08-31 | Stacking machine mechanical arm balances pretensioner systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621034441.4U CN205996962U (en) | 2016-08-31 | 2016-08-31 | Stacking machine mechanical arm balances pretensioner systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205996962U true CN205996962U (en) | 2017-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621034441.4U Withdrawn - After Issue CN205996962U (en) | 2016-08-31 | 2016-08-31 | Stacking machine mechanical arm balances pretensioner systems |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217359A (en) * | 2016-08-31 | 2016-12-14 | 中冶华天工程技术有限公司 | Stacking machine mechanical arm balance pretensioner systems |
-
2016
- 2016-08-31 CN CN201621034441.4U patent/CN205996962U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217359A (en) * | 2016-08-31 | 2016-12-14 | 中冶华天工程技术有限公司 | Stacking machine mechanical arm balance pretensioner systems |
| CN106217359B (en) * | 2016-08-31 | 2018-09-14 | 中冶华天工程技术有限公司 | Stacking machine mechanical arm balances pretensioner systems |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170308 Effective date of abandoning: 20180914 |