CN206068944U - High speed piling system - Google Patents

Abstract

This utility model discloses a kind of high speed piling system, including Palletizer, the jacking equipment for lifting section bar；The Palletizer includes " ┤ " shape frame, upset electric magnet, tooth plate, wrist, driving means, pre-tightening apparatus；The frame includes vertical section and horizontal segment, and the rear end of the horizontal segment is connected with the middle part of the vertical section；The rack level section front end is hinged with swing arm by the first jointed shaft；The lower end of the swing arm is hinged with wrist by the second jointed shaft；Upset electric magnet is provided with the wrist, on the upset electric magnet, tooth plate is hinged with；The driving means are arranged on above rack level section, drive the swing arm motion；The pre-tightening apparatus are arranged on the lower section of rack level section；The jacking equipment includes hoistable platform, position block, and the position block is arranged on hoistable platform.

Description

High speed piling system

Technical field

This utility model is related to a kind of profile production equipment, specifically a kind of high speed piling system.

Background technology

Profile stacking machine is arranged in section bar workshop rear portion finished product process tail end, for scale profile stacking, to satisfy the criteria Require according to certain pattern pile into pile to delivery to customer product with the merchant shapes packing specification in market, to realize material Storage, carrying, handling transport etc. logistics activity.Current profile stacking machine adopts hand stowage mode or " running vehicle type " mostly Piling mode, hand stowage mode working strength are big, and required operating worker quantity is more, and cost of labor is big, and inefficiency, code Pile packaging quality is poor；Row hangs mode using automatic stacking system, reduces cost of labor, but has that speed is low, positional precision is poor, work Skill rhythm is slow and the shortcomings of the anti-interference ability weak section bar continuous rolling process production capacity matching difference with all fronts.

Utility model content

For the problems referred to above, a kind of piling speed of this utility model offer is fast, the high speed piling system of high precision.

To reach above-mentioned purpose, this utility model high speed piling system, including Palletizer, the lifting for lifting section bar Equipment；

The Palletizer includes frame, upset electric magnet, tooth plate, wrist, driving means, pre-tightening apparatus；The frame Including vertical section and horizontal segment, the rear end of the horizontal segment is connected with the middle part of the vertical section；The rack level section front end Swing arm is hinged with by the first jointed shaft；The lower end of the swing arm is hinged with wrist by the second jointed shaft；Set on the wrist Upset electric magnet is equipped with, on the upset electric magnet, tooth plate is hinged with；The driving means are arranged on above rack level section, are driven Move the swing arm motion；The pre-tightening apparatus are arranged on the lower section of rack level section；

The jacking equipment includes hoistable platform, position block, and the position block is arranged on hoistable platform.

Preferably, the wrist is connected with multi link attitude-adjusting system, the multi link attitude-adjusting system includes one Root wrist connecting shaft, a top links and bottom linkage rod corresponding with the wrist are rotatably connected with first jointed shaft Rocking bar and the gesture drive mechanism for adjusting the wrist attitude；Master arm and driven is provided with the wrist connecting shaft Arm, the slave arm of the master arm of the wrist connecting shaft wrist connecting shaft adjacent with top are hinged with transition link respectively, most The master arm of connecting shaft of top is hinged with the bottom of top links, and top and the rocking bar of the top links are hinged by the 3rd Axle is hinged, and the slave arm of the wrist connecting shaft of bottom is hinged with the top of the bottom linkage rod, the bottom linkage rod Bottom is hinged by the 4th jointed shaft with the wrist；Plane and second, four determined by the axis of first and third jointed shaft Plane determined by the axis of jointed shaft is parallel, the axis of the transition link, top links and bottom linkage rod and the pendulum The diameter parallel of arm；The gesture drive mechanism drives the top links or rocking bar motion.

Preferably, the position block is alternately block, the alternately block includes being arranged in order along the section bar direction of motion Forward and backward block and drive the block elevating mechanism of positive stop lifting, described two blocks meet to section bar the side for moving To side be provided with spacing trigger mechanism.

Preferably, the pre-tightening apparatus include the elastic mechanism that two ends are hinged with the frame and the swing arm respectively and For adjusting the flexible adjustment mechanism of the elastic force of the elastic mechanism；

The gas bag that the elastic mechanism is included cylinder and connected with the cylinder, the flexible adjustment mechanism include source of the gas, For connecting the source of the gas treatment element and the air gauge being arranged on the gas bag of source of the gas and gas bag；

Or, the elastic mechanism includes spring, and the flexible adjustment mechanism includes being connected with frame for adjusting spring The position adjusting mechanism of position.

Preferably, angular transducer detent mechanism is provided with the swing arm, the angular transducer detent mechanism includes The angular transducer being connected with the first jointed shaft by booster engine, first jointed shaft are connected with the low speed end of the booster engine Connect, the angular transducer is connected with the speed end of the booster engine, the swing arm is connected with the first jointed shaft anti-rotation, institute State the range of the product no more than angular transducer of the angular range of swing arm motion and the speed increasing ratio of booster engine.

Preferably, stroke compensating mechanism is provided with frame, the stroke compensating mechanism includes being hinged with the frame Stroke compensation mount and the stroke compensation drive mechanism being hinged away from the frame side with the stroke compensation mount；It is described It is hinged in the middle part of driving means and the stroke compensation mount；The kinematic accuracy of the compensation driving means drives dress higher than described Put.

To reach above-mentioned purpose, this utility model high speed piling system, including " ┤ " shape frame, swing arm, driving means, Wrist and upset Magnet；The frame includes horizontal segment and vertical section, and described horizontal segment one end is connected with the vertical section top, The rack level section front end is hinged with swing arm by the first jointed shaft；Swing arm lower end is hinged with wrist by the second jointed shaft； Upset electric magnet is provided with the wrist, the driving means are arranged between the frame and swing arm and are hinged with swing arm.

Preferably, the driving means include that drive mechanism drive link corresponding with swing arm is corresponding with drive link Rocking bar, one end of the drive link are hinged with the rocking bar, and the other end of the drive link is hinged with the swing arm；

Or, the swing arm is connected with the first jointed shaft anti-rotation, and the driving means include a telescoping mechanism, institute The two ends for stating telescoping mechanism are hinged with the swing arm and frame respectively.

Preferably, the driving means are hinged with frame by compensation device；

The compensation device includes the compensation mount being hinged with the frame and with the compensation mount away from the machine The compensation drive mechanism that frame side is hinged；It is hinged in the middle part of the driving means and the compensation mount；The compensation driving means Kinematic accuracy be higher than the driving means；

Or, the compensation device is included the compensation mount being connected with the housing slide and drives the compensation mount The compensation drive mechanism of slip, the driving means are connected with the compensation mount.

Preferably, the pre-tightening apparatus include the elastic mechanism that two ends are hinged with the frame and the swing arm respectively and For adjusting the flexible adjustment mechanism of the elastic force of the elastic mechanism；

The gas bag that the elastic mechanism is included cylinder and connected with the cylinder, the flexible adjustment mechanism include source of the gas, For connecting the source of the gas treatment element and the air gauge being arranged on the gas bag of source of the gas and gas bag；

Or,

The pre-tightening apparatus include the elastic mechanism that two ends are hinged with the frame and the swing arm respectively 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 is included for adjusting spring with frame link position Position adjusting mechanism.

Preferably, the wrist is hinged by the second jointed shaft with the crossbeam, the Palletizer also includes and wrist The wrist level maintaining body or wrist attitude-adjusting system of connection；

The wrist level maintaining body is wrist list connecting rod level-ling mechanism or wrist multi link level-ling mechanism；

The wrist multi link level-ling mechanism includes a wrist connecting shaft being rotatably connected with swing arm, a top Connecting rod and bottom linkage rod corresponding with the wrist, the wrist is with being provided with master arm and slave arm, the wrist in connecting shaft The slave arm of the master arm of the portion's connecting shaft wrist connecting shaft adjacent with top is hinged with transition link respectively, the connection of the top The master arm of axle is hinged with the bottom of top links, and top and the frame of the top links are hinged by the 3rd jointed shaft, most The slave arm of the wrist connecting shaft of lower section is hinged with the top of the bottom linkage rod, the bottom of the bottom linkage rod with it is described Wrist is hinged by the 4th jointed shaft；The axle of plane determined by the axis of first and third jointed shaft and second, four jointed shafts Plane determined by line is horizontal plane, the axle of the axis of the transition link, top links and bottom linkage rod and the swing arm Line is parallel；

It is described to include a transition link be arrangeding in parallel with the swing arm for wrist list connecting rod level-ling mechanism, it is described The upper end of transition link is hinged by the 3rd jointed shaft with the frame, the lower end of the transition link by the 4th jointed shaft with The wrist is hinged, and plane determined by the axis of first and third jointed shaft is put down with determined by described second, four jointed shafts Face is horizontal plane；The wrist is connected with the second jointed shaft anti-rotation；

The wrist attitude-adjusting system is wrist list connecting rod attitude adjustment mechanism or wrist multi link attitude-adjusting system；

The wrist multi link attitude-adjusting system include a wrist connecting shaft, a top links and with the wrist Corresponding bottom linkage rod is rotatably connected with first jointed shaft rocking bar and the gesture drive for adjusting the wrist attitude Mechanism；At least one master arm and at least one slave arm, the master of the wrist connecting shaft are provided with the wrist connecting shaft The slave arm of the swing arm wrist connecting shaft adjacent with top is hinged with transition link respectively, the master arm of the connecting shaft of the top with The bottom of top links is hinged, and top and the rocking bar of the top links are hinged by the 3rd jointed shaft, the wrist of bottom The slave arm of portion's connecting shaft is hinged with the top of the bottom linkage rod, and the bottom of the bottom linkage rod passes through the 4th with the wrist Jointed shaft is hinged；Plane determined by the axis of first and third jointed shaft is flat with determined by the axis of second, four jointed shafts Face is parallel, the diameter parallel of the axis of the transition link, top links and bottom linkage rod and the swing arm；The attitude is driven Motivation structure drives the top links or rocking bar motion；

The wrist list connecting rod attitude adjustment mechanism includes a transition link be arrangeding in parallel with the swing arm and described Rocking bar and the gesture drive mechanism of the driving transition link or the rocking bar that first jointed shaft is rotatably connected, the translation The upper end of connecting rod is hinged by the 3rd jointed shaft with the rocking bar, and the lower end of the transition link is with the wrist by the 4th hinge Spindle is hinged, and determined by the axis of first and third jointed shaft, plane is parallel with plane determined by second, four jointed shafts； The wrist is connected with the second jointed shaft anti-rotation；

Preferably, positioner is provided with Palletizer, the positioner is mobile ranging localization mechanism, fixed survey Away from detent mechanism or angular transducer detent mechanism；

The mobile ranging localization mechanism include with swing arm or crossbeam bottom be hinged range measurement mechanism, for keeping described The location-plate that the level-ling mechanism and the correspondence range measurement mechanism kinematic scope of measuring mechanism level is arranged；It is described fixed Difference of the height of position plate not less than the height of the peak and minimum point of swing arm bottom motion；When the swing arm bottom is moved During to peak, the top of the corresponding location-plate of the range measurement mechanism, when the swing arm bottom moves to minimum point, The bottom of the corresponding location-plate of the range measurement mechanism；Or, the location-plate includes the correspondence range measurement mechanism Rear the 1/2 of rear 1/2 upper location-plate for arranging and correspondence range measurement mechanism downward range of motion of range of upward movement sets The lower location-plate put；When the swing arm bottom moves to peak, the corresponding upper location-plate of the range measurement mechanism, when When the swing arm bottom moves to minimum point, the corresponding lower location-plate of the range measurement mechanism；

The fixed ranging localization mechanism includes the location-plate being hinged with swing arm or crossbeam bottom, for keeping the positioning The range measurement mechanism that the vertical vertical maintaining body of plate and the correspondence location-plate are arranged；The height of the location-plate is not little In the difference of the peak and minimum point height of swing arm bottom motion；It is when the swing arm bottom moves to peak, described The bottom of the range measurement mechanism correspondence location-plate, when the swing arm bottom moves to minimum point, the range measurement machine The top of the structure correspondence location-plate；Or, the rear 1/2 upper measuring mechanism for arranging of the correspondence location-plate range of upward movement With the rear 1/2 lower range measurement mechanism for arranging of the correspondence location-plate downward range of motion, when the swing arm bottom moves to During peak, the corresponding upper measuring mechanism of the location-plate, when the swing arm bottom moves to minimum point, the location-plate The correspondence lower measuring mechanism；

The angular transducer detent mechanism includes the angular transducer being connected with the first jointed shaft by booster engine, described First jointed shaft is connected with the low speed end of the booster engine, and the angular transducer is connected with the speed end of the booster engine, institute State swing arm to be connected with the first jointed shaft anti-rotation, the product of the angular range of the swing arm motion and the speed increasing ratio of booster engine is not More than the range of the angular transducer.

Preferably, section bar clamping mechanism is provided with the electric magnet, the section bar clamping mechanism be slip clamping mechanism, Upset clamping mechanism or lifting clamping mechanism；

The slip clamping mechanism includes the tooth plate being slidably connected with the electric magnet and for driving the tooth plate to slide Dynamic tooth plate drive mechanism, is provided with the fixing breach that section bar is adapted along section bar orientation on the tooth plate；

The upset clamping mechanism includes the tooth plate being hinged with the electric magnet and for driving the tooth plate upset Tooth plate drive mechanism, is provided with the fixing breach being adapted with section bar along section bar orientation on the tooth plate；

Preferably, the lifting clamping mechanism includes the tooth plate and drive institute that the side with the electric magnet is slidably connected State the tooth plate drive mechanism of electric magnet lifting；It is provided with along section bar orientation on the tooth plate and lacks to the fixing being adapted to section bar Mouthful.

Preferably, positioner also includes motion control mechanism, the motion control mechanism includes being arranged on the swing arm Under in the range of the upper trigger mechanism in the range of rear 1/2 that moves upwards, be arranged on that the swing arm is moved downward rear 1/2 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 angular transducer detent mechanism communication, the controller control are described Driving means and the compensation device；The upper trigger mechanism and the lower trigger mechanism are proximity switch.

Preferably, the Magnet drive mechanism is electric magnet telescoping drive mechanism, the electric magnet connecting shaft and the electricity Magnet is connected by wrist booster engine；Described electric magnet telescoping drive mechanism one end is hinged with the wrist, the electromagnetism The other end of ferrum telescoping drive mechanism is hinged with fork；The wrist booster engine includes the driving gear being arranged on axle, arranges Driven gear on electric magnet and for by least one travelling gear of the motion transmission of driving gear to driven gear； The driven gear is m/n with the gear ratio of driving gear, wherein, the anglecs of rotation of the m for electric magnet, n is that electric magnet is flexible to be driven Motivation structure drives the angle of fork rotation；

Or the solenoid actuated mechanism is electric magnet rotary drive mechanism；The electric magnet rotary drive mechanism includes The output shaft of rotating hydraulic cylinder or reducing motor, the rotating hydraulic cylinder or reducing motor is connected with the electric magnet.

Preferably, stroke compensating mechanism is provided with the frame, the stroke compensating mechanism includes cutting with scissors with the frame The stroke compensation mount for connecing and the stroke compensation drive mechanism being hinged away from the frame side with the stroke compensation mount； It is hinged in the middle part of the driving means and the stroke compensation mount；The kinematic accuracy of the compensation driving means is higher than the driving Device；

Or, the stroke compensating mechanism is included the stroke compensation mount being connected with the housing slide and is driven described The stroke compensation drive mechanism that stroke compensation mount is slided, the driving means are connected with the stroke compensation mount.

This utility model high speed piling system, in swing arm motion, using the multi link pose adjustment machine being connected with wrist Structure can make wrist remain level, and then make to be arranged on the electric magnet holding level of wrist, it is ensured that electric magnet is in absorption-type Can be parallel with hoistable platform before material；Using the upset tooth plate being arranged on electric magnet so that electric magnet can alternately draw code Angle steel and radix-minus-one complement angle steel；Deadweight or the load of swing arm are carried using pre-tightening mechanism, in such manner, it is possible to swing arm be made in close balance State, when driving means are driven to swing arm, responds rapidly to can swing arm, simultaneously as the weight of swing arm is by pretension Device is carried, and when driving means drive swing arm, accelerates can the movement velocity of swing arm, and the response speed and movement velocity of swing arm are all Quickening means that the work efficiency of mechanical hand can be greatly improved；Using the angular transducer being arranged in swing arm, can be right The swing position of swing arm is accurately positioned, and control accuracy of the section bar in whole palletization is all greatly improved.

Description of the drawings

Fig. 1 is first example structure schematic diagram of this utility model high speed piling system Palletizer；

Fig. 2 is one embodiment partial structural diagram of this utility model high speed piling system Palletizer；

Fig. 3 is this utility model high speed piling system pre-tightening apparatus schematic diagram；

Fig. 4 is the structural representation of high speed piling system perspective sensor positioning mechanism；

Fig. 5 is the structural representation of this utility model high speed piling second embodiment of system；

Fig. 6 is a kind of preferred compositions mode of compensation device and driving means；

Fig. 7 is the schematic diagram of the multi link wrist level maintaining body of this utility model high speed piling system；

Fig. 8 is a kind of preferred structure of this utility model high speed piling system electromagnet apparatus；

Fig. 9 is the preferred structure schematic diagram of this utility model high speed piling system movement ranging localization mechanism；

Figure 10 is the workflow diagram of this utility model high speed piling system positioning device；

Figure 11 is the workflow diagram of this utility model high speed piling system positioning device

Figure 12 is the structural representation that this utility model high speed piling system translates clamping mechanism；

Figure 13 is the structural representation that this utility model high speed piling system fixes ranging localization mechanism；

Figure 14 is the 3rd example structure schematic diagram of this utility model high speed piling system Palletizer.

Specific embodiment

This utility model is further described with reference to Figure of description.

In this utility model, " front " refers to direction of the frame towards hoistable platform, and " afterwards " refers to frame dorsad hoistable platform Direction.

The wrist is for connecting arm and upset Magnet；Or the attachment structure of connecting cross beam and upset Magnet, institute It is two pieces of connecting plates for being arranged on the upset Magnet both sides, one piece of connecting plate for being arranged on upset Magnet side to state attachment structure Or other attachment structures.

Embodiment one

As shown in Figure 1 and Figure 2, the present embodiment high speed piling system, the Palletizer include frame 1, upset electric magnet 6, Tooth plate 608, wrist 7, driving means, pre-tightening apparatus 5；The frame is " ┤ " shape frame, and the frame includes 102 He of vertical section Horizontal segment 101, the rear end of the horizontal segment 101 are connected with the middle part of the vertical section 102；101 front end of rack level section Swing arm 2 is hinged with by the first jointed shaft 201；The lower end of the swing arm 2 is hinged with wrist 7 by the second jointed shaft 202；It is described Wrist 7 is provided with upset electric magnet 6；Tooth plate 608 is hinged with the upset electric magnet；The driving means are arranged on frame water Below flat section, the swing arm motion is driven；The pre-tightening apparatus 5 are arranged on the lower section of rack level section；The wrist connects with more Bar attitude-adjusting system connect, the multi link attitude-adjusting system include a wrist connecting shaft, a top links and with The corresponding bottom linkage rod of the wrist is rotatably connected with first jointed shaft rocking bar and for adjusting the wrist attitude Gesture drive mechanism；Be provided with master arm and slave arm in the wrist connecting shaft, the master arm of the wrist connecting shaft with it is upper The slave arm of the wrist connecting shaft of Fang Xianglin is hinged with transition link respectively, the master arm and top links of the connecting shaft of the top Bottom be hinged, top and the rocking bar of the top links are hinged by the 3rd jointed shaft, the wrist connecting shaft of bottom Slave arm be hinged with the top of the bottom linkage rod, the bottom of the bottom linkage rod and the wrist are cut with scissors by the 4th jointed shaft Connect；Determined by the axis of first and third jointed shaft, plane is parallel with plane determined by the axis of second, four jointed shafts, The diameter parallel of the axis of the transition link, top links and bottom linkage rod and the swing arm；The gesture drive mechanism Drive the top links or rocking bar motion；

The jacking equipment includes hoistable platform, position block, and the position block is arranged on hoistable platform；It is described fixed Position block is alternately block, and the alternately block includes the forward and backward block being arranged in order along the section bar direction of motion and drives institute The block elevating mechanism of positive stop lifting is stated, described two blocks are met to section bar the side in the direction moved and are provided with spacing touching Send out mechanism

Stroke compensating mechanism is provided with the frame, the stroke compensating mechanism includes the stroke being hinged with the frame Compensation mount and the stroke compensation drive mechanism being hinged away from the frame side with the stroke compensation mount；The driving It is hinged in the middle part of device and the stroke compensation mount；The kinematic accuracy of the compensation driving means is higher than the driving means.

As shown in 3 figures, pre-tightening apparatus 5 below the horizontal segment of the frame, are provided with, the pre-tightening apparatus include two ends point The elastic mechanism not being hinged with the frame and the swing arm and the flexible adjustment for adjusting the elastic force of the elastic mechanism Mechanism；The gas bag 510 that the elastic mechanism is included cylinder 501 and connected with the cylinder, the flexible adjustment mechanism include gas Source 516, the source of the gas treatment element 512 for connecting source of the gas 516 and gas bag 510 and the air pressure being arranged on the gas bag 510 Table 511；The balance cylinder 501 is arranged between swing arm 2 and support body 1, and swing arm deadweight is supported in 2 course of action of swing arm.

The air supply system includes that source of the gas 516, gas bag 510, air gauge 511, source of the gas process three elements 512, welded still pipe 503 and ball valve 513, the source of the gas 516 processes three elements by reducing joint 515, welded still pipe 514, ball valve 513 and source of the gas Compressed-air-storing to gas bag 510, manually adjustable ball valve 513 are inflated by 512 to gas bag 510, also scalable gas bag 510 On relief valve deflated.The gas bag 510 is provided with air gauge 511, can read 510 atmospheric pressure value of gas bag in real time；The gas Cylinder air admission unit 502 is welded by welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506, articulation 507 Steel pipe 508 and pipe reducer 509 are connected with gas bag 510, manual-lock or can open ball valve 506 to control gas bag 510 With the gas distribution channel between balance cylinder 501.State gas bag 510 and be placed on 1 side of palletizing mechanical arm support body or more nearby, gas bag Ball valve 506 between 510 and cylinder is arranged on support body 1 position for being easy to operate.

As shown in figure 4, angular transducer detent mechanism in the swing arm, is provided with, the angular transducer detent mechanism bag The angular transducer 212 being connected with the first jointed shaft by booster engine 210 is included, the housing of the angular transducer 212 is arranged on On rotating base 211, the rotating base 211 is rotatably connected with shell or the first jointed shaft, is arranged on the rotating base 211 Have and rotating base 211 is locked at into the locking device on shell or the first jointed shaft, first jointed shaft and the booster engine 210 low speed end connection, the angular transducer 212 is connected with the speed end of the booster engine 210, the swing arm and described the One jointed shaft anti-rotation connects, and the angular range of the swing arm motion is not more than the angle with the product of the speed increasing ratio of booster engine 210 The range of degree sensor 212.First jointed shaft is connected with angular transducer 212 by said structure by speeder, when first When jointed shaft rotates an angle, speeder passes through speedup by the expanded range of the measuring section of angular transducer 212, with around here Connecing strengthens the resolution of angular transducer 212.When mechanical hand is swung, axle of its mechanical movement around arm end is carried out Rotary motion, while just driving the booster engine 210 being connected on axle to run.If swing arm traffic coverage is [0, A], by booster engine After 210 speed are than k amplifications, 210 speed end traffic coverage of booster engine is really [0, kA].If sensor resolution is B, due to sensing Device is connected to 210 speed end of booster engine, so the Measurement Resolution of 210 speed end of booster engine is B, and 210 low speed end of booster engine Measurement Resolution be B/k, that is to say, that the utility model proposes measurement apparatus, for the resolution that swing arm is measured For B/k, precision improves k times.

The course of work of the high speed piling system of the present embodiment is carried out by taking the palletization of small dimension angle steel as an example below Explanation：

A kind of original state of the present embodiment is as illustrated, under this state, the swing arm drive device 3 is in swing arm 2 Plumbness, 6 magnetic pole of upset electric magnet are downward.

During positive code steel, the swing arm drive device 3 drives connecting lever 303 to rotate, and then drives drive link 301 to promote pendulum Arm 2 is swung forward, until upset electric magnet 6 is connect above steel position positioned at shaped steel, then hoistable platform is moved upwards, when lifting is put down Platform main body moves upward to the position for being suitable to that electric magnet 6 draws angle steel, and then electric magnet suction 6 takes angle steel, when the absorption of electric magnet During angle steel, the turning of angle steel is fixed in the fixing breach of tooth plate 608, makes angle steel keep attitude not change, angle steel is put To specified location.

Subsequently carry out reverse code steel, need first piling section bar by hoistable platform be promoted to it is higher connect steel position, then drive 302 action of mechanism, drives swing arm forward swing to turn over to steel position, subsequent electric magnet is connect by connecting lever 303, rocking bar 303 and connecting rod 301 Turn, make magnetic pole level draw angle steel upwards.As angle steel is in code, in " ︿ ︿ ︿ " shape, during angle steel radix-minus-one complement, superposition is previously On the good angle steel of code, in " ︿ ﹀ ︿ ﹀ ︿ " shape, code is the opening down of angle steel, and radix-minus-one complement is the opening up of angle steel.When During angle steel code, due to be angle steel closed angle end upward, and electric magnet 6 be single line contact, contact area very little, it is easy in electricity Rollover is produced on Magnet 6, so guiding tooth plate 608 must be arranged on electric magnet, the angle steel of code is oriented to.But During subsequent radix-minus-one complement, being oriented to tooth plate 608 can interfere with the angle steel of code, it is therefore desirable to which the edge and horizontal plane for making angle steel connects Touch, therefore need to drive tooth plate 608 to move by tooth plate drive mechanism 607 before angle steel is drawn, make the edge and tooth plate of angle steel 608 straight portion alignment.Then it is grouped lifting platform to move downward, angle steel is drawn on electric magnet 6, and lifting platform to be grouped leaves Behind upset region, electric magnet telescoping drive mechanism 702 is retracted, and upset electric magnet 6 reversely rotates 180 °；Then driving means 302 Drive connecting lever 303 to move, drive swing arm 2 to be rocked to reverse code steel position by rocking bar 303 and connecting rod 301, after swing arm in place, Upset 6 dead electricity of electric magnet, steel fall on piling lifting platform.

This utility model high speed piling system, due to using ┤ " shape frame, middle part and the horizontal segment 101 of swing arm 2 are hinged, So, the top of swing arm 2 to bottom formed counterweight, make swing arm 2 in be close to balance state, when pre-tightening mechanism apply power with During the power that the weight for being more than 2 bottom of swing arm with joint efforts that top counterweight applies applies, swing arm 2 can be swung up, and now connecting rod 301 is received To power be pulling force, after mechanical hand feeding, weight increase, when needing to lower swing, 303 drive mechanism 302 of rocking bar bounces back, lead to The transmission for crossing connecting lever, rocking bar 303 and connecting rod 301 pulls swing arm 2, and now connecting rod 301 remains applying pulling force, thus, swing arm 2 In motor process, the power of pre-tightening apparatus 5 and driving means does not all commutate, and can eliminate hinge gap,

In the motor process of swing arm, the pressure in the gas bag 510 of the present embodiment should meet：First, balance cylinder 501 is pushed away The maximum load moment of resistance of the trimming moment that power is produced slightly larger than generation of conducting oneself with dignity during swing arm motion, two, gas bag 510 is whole During driving, pressure is basically unchanged.Under the conditions of above-mentioned two, the effect without drive link, swing arm will be in balance cylinders 501 Thrust lower swing to foremost position, therefore the stress of drive link pressurized is changed into tension from original, it is to avoid depression bar occur Unstable phenomenon；After 2 forward swing of swing arm connects steel, the weight of steel is increased, the change of loading moment is conducive to greatly swing arm backswing, the company of driving The pulling force of bar also reduces therewith；In 2 course of action of swing arm, balance cylinder 501 is constantly in thrust rating, drives pull bar always In tension state, connection member stress does not commutate, so as to the gap for eliminating hinged place affects.Swing arm is conducive to swing During precision improve；Using multi link attitude-adjusting system,；It is by the diastimeter being arranged on hoistable platform, accurate to survey The adjustable height of hoistable platform is measured.Due to stacking in " ︿ ﹀ ︿ ﹀ ︿ " shape in radix-minus-one complement angle steel on the good angle steel of code, so The position of code angle steel and radix-minus-one complement angle steel on electric magnet can differ a certain distance, therefore code angle steel and radix-minus-one complement angle steel are stopped Position on hoistable platform can be different, and this utility model is limited by the block for arranging alternately lifting on hoistable platform The stop place of code angle steel and radix-minus-one complement angle steel on hoistable platform so that angle steel can be inhaled in predetermined position by Magnet.

Embodiment two

As shown in figure 5, the high speed piling system of the present embodiment, including " ┤ " shape frame, swing arm, driving means, wrist and Upset Magnet；The frame includes horizontal segment and vertical section, and described horizontal segment one end is connected with the vertical section top, the machine Frame horizontal segment front end is hinged with swing arm by the first jointed shaft；Swing arm lower end is hinged with wrist, the wrist by the second jointed shaft Portion includes the contiguous block for being arranged on swing arm bottom, the contiguous block top and bottom extend to both sides respectively to be formed upper substrate and under Substrate, the infrabasal plate are provided with upset electric magnet；The driving means are arranged between the frame and swing arm is cut with scissors with swing arm Connect.

The Palletizer includes frame 1, upset electric magnet 6, upset tooth plate 608, wrist 7, driving means；The frame For " ┤ " shape frame, including vertical section 102 and horizontal segment 101, in the rear end of the horizontal segment 101 and the vertical section 102 Portion connects；The rack level section front end is hinged with swing arm 2 by the first jointed shaft 201；Swing arm lower end passes through the second jointed shaft 202 are hinged with wrist 7；Front end on the wrist 7 is provided with upset electric magnet 6；The upset tooth plate is hinged on the upset On electric magnet 6；The driving means are arranged on above rack level section, and the driving means include drive mechanism 302, the company of driving Bar 301, with 301 corresponding rocking bar 303 of drive link, one end of the connecting rod 301 is hinged with the rocking bar 303, the connecting rod 301 other end is hinged with the swing arm；One arm of the one of rocking bar 303 for connecting lever, drive mechanism 302 are driven for electric cylinders The swing arm motion, pre-tightening apparatus 5 are arranged on the lower section of rack level section；

The driving means can be arranged on above or below rack level section, naturally it is also possible to after being arranged on frame Face.

The driving means include some drive links 301 corresponding with swing arm, with 301 corresponding rocking bar of drive link 303rd, the connecting shaft 305 being rotatably connected with drive connection structure and the drive mechanism 302 for driving the rotation of connecting shaft 305, The rocking bar 303 is connected with 305 anti-rotation of the connecting shaft, and one end of the connecting rod 301 is hinged with the rocking bar 303, the company The other end of bar 301 is hinged with the swing arm；One of rocking bar 303 for connecting lever one arm, drive mechanism 302 be electric cylinders, Hydraulic cylinder or cylinder, the expansion link of the electric cylinders, hydraulic cylinder or cylinder are hinged with another arm of the connecting lever, the electric cylinders, The cylinder body of hydraulic cylinder or cylinder is hinged with the frame by compensation device.

The driving means are hinged with the frame by the compensation device；

As shown in fig. 6, the compensation device include the compensation mount 401 being hinged with the frame and with the compensation bottom The compensation drive mechanism 402 that seat 401 is hinged away from the frame side；In the middle part of the driving means and the compensation mount 401 It is hinged；The kinematic accuracy of the compensation driving means is higher than the driving means；

As shown in fig. 7, the wrist is hinged by the second jointed shaft 202 with the crossbeam, the wrist is connected with wrist more Bar level-ling mechanism connects；The wrist multi link level-ling mechanism includes the wrist axes being rotatably connected with swing arm 206th, a top links 205 and with the one-to-one some bottom linkage rods 207 of the wrist, arrange in the wrist axes 206 There are a master arm and a slave arm, the slave arm point of the master arm of the wrist axes 206 wrist axes 206 adjacent with top It is not hinged with transition link, master arm and the bottom of top links 205 of the axle of the top are hinged, the top links 205 Top is hinged by the 3rd jointed shaft 203 with frame, slave arm and the bottom linkage rod of the wrist axes 206 of bottom 207 top is hinged, and the bottom of the bottom linkage rod 207 is hinged by the 4th jointed shaft 204 with the wrist；Described first, Plane determined by the axis of plane determined by the axis of three jointed shafts and second, four jointed shafts is horizontal plane, the translation The diameter parallel of the axis of connecting rod, top links 205 and bottom linkage rod 207 and the swing arm；

As shown in figure 8, the Magnet drive mechanism 702 is electric magnet telescoping drive mechanism 702, the electric magnet connecting shaft 701 are connected by wrist booster engine with the electric magnet；Described 702 one end of electric magnet telescoping drive mechanism and the wrist It is hinged, the other end of the electric magnet telescoping drive mechanism 702 is hinged with fork, the fork is prevented with electric magnet connecting shaft 701 Turn connection；The driven gear that the wrist booster engine includes the driving gear being arranged in connecting shaft 701, is arranged on electric magnet And for driving gear to be transferred at least one travelling gear of driven gear；The biography of the driven gear and driving gear Dynamic than being 3, electric magnet needs to overturn 180 °, and electric magnet telescoping drive mechanism 702 drives fork to rotate 60 °.

As shown in figs. 9-11, the positioner is mobile ranging localization mechanism；The mobile ranging localization mechanism includes With swing arm or crossbeam bottom be hinged range measurement mechanism, the level-ling mechanism for keeping the measuring mechanism level and right The location-plate for answering the range measurement mechanism kinematic scope to arrange；The height of the location-plate 215 is not less than the swing arm bottom The difference of the peak of motion and the height of minimum point；When the swing arm bottom moves to peak, the range measurement mechanism The top of the corresponding location-plate 215, when the swing arm bottom moves to minimum point, the range measurement mechanism correspondence is described The bottom of location-plate 215；Positioner also includes motion control mechanism, and the motion control mechanism includes being arranged on the swing arm Under in the range of the upper trigger mechanism in the range of rear 1/2 that moves upwards, be arranged on that the swing arm is moved downward rear 1/2 Trigger mechanism and the controller communicated with the upper trigger mechanism and the lower trigger mechanism；The controller and the movement Ranging localization mechanism communicates, and the controller controls the driving means and the compensation device；The upper trigger mechanism and institute Lower trigger mechanism is stated for proximity switch.The range measurement mechanism includes shading protecting box 213 and is arranged on the shading protection Laser ranging mechanism 214 in box 213；

As shown in figure 12, section bar clamping mechanism is provided with the electric magnet, the section bar clamping mechanism is fixed to slide Mechanism；The slip clamping mechanism includes the tooth plate 608 being slidably connected with the electric magnet and for driving the tooth plate 608 The tooth plate drive mechanism 607 of slip, is provided with the fixing breach that section bar is adapted along section bar orientation on the tooth plate 608.

Embodiment three

As shown in figure 14, on the basis of embodiment 1, driving means are replaced by telescoping mechanism 304 by the present embodiment, described Swing arm is connected with 201 anti-rotation of the first jointed shaft, and the two ends of the telescoping mechanism 304 are cut with scissors with the swing arm and frame respectively Connect.

In the present embodiment, swing arm is connected with 201 anti-rotation of the first jointed shaft, is then driven by telescoping mechanism 304 One of them or several swing arms 2 are moved, now as swing arm 2 is connected with 201 anti-rotation of the first jointed shaft, therefore, pendulum Arm 2 can also be moved.The present embodiment will directly drive swing arm 2 using telescoping mechanism 304 and move, and be not driven, can be reduced Energy expenditure in transmission process, improves energy conversion efficiency.

When the length of swing arm 2 is shorter, wrist list connecting rod attitude governor motion, the wrist list connecting rod appearance can also be adopted State adjustment mechanism includes that one is rotatably connected with the transition link 209 that the swing arm be arranged in parallel, with first jointed shaft 201 Rocking bar and drive the gesture drive mechanism 208 of the transition link 209 or the rocking bar 229, the transition link 209 Upper end is hinged by the 3rd jointed shaft 203 with the rocking bar 229, and the lower end of the transition link 209 and the wrist 7 are by the Four jointed shafts 204 are hinged, and plane determined by the axis of first and third jointed shaft is put down with determined by second, four jointed shafts Face is parallel；The wrist 7 is connected with 202 anti-rotation of the second jointed shaft.

Said structure adopts a parallel four-bar linkage, as wrist 7 is connected with 202 anti-rotation of the second jointed shaft, Therefore, the pose adjustment of individual wrist 7 can also be completed.The accumulation of machine error also, transmission link is few, can be reduced, also can Energy expenditure in transmission process is reduced enough.

Likewise, when swing arm 2 is shorter, wrist level maintaining body can also keep machine using wrist list connecting rod level Structure, it is described to include a transition link be arrangeding in parallel with the swing arm, the translation for wrist list connecting rod level-ling mechanism The upper end of connecting rod is hinged by the 3rd jointed shaft with the frame, the lower end of the transition link by the 4th jointed shaft with it is described Wrist is hinged, and plane determined by the axis of first and third jointed shaft with described second, plane determined by four jointed shafts is Horizontal plane；The wrist is connected with the second jointed shaft anti-rotation.

Said structure adopts a parallel four-bar linkage, as wrist is connected with the second jointed shaft anti-rotation, therefore, Individual wrist can keep level.Similarly, the accumulation of machine error can as transmission link is few, be reduced, it is also possible to reduce and pass Energy expenditure during dynamic.

On the basis of above-described embodiment, the mobile ranging localization mechanism can also be replaced with fixed ranging localization machine Structure, as shown in figure 13, the fixed ranging localization mechanism includes the location-plate 215 being hinged with swing arm or crossbeam bottom, for protecting Hold the range measurement mechanism that the vertical vertical maintaining body of the location-plate 215 and the correspondence location-plate 215 are arranged；It is described Range measurement mechanism includes shading protecting box 213 and the laser ranging mechanism 214 being arranged in shading protecting box 213, described fixed Difference of the height of position plate 215 not less than the peak and minimum point height of swing arm bottom motion；When the swing arm bottom is transported When moving peak, the bottom of the range measurement mechanism correspondence location-plate 215, when the swing arm bottom move to it is minimum When putting, the range measurement mechanism corresponds to the top of the location-plate 215.Said structure also can by measure swing arm lower end with The distance of a certain fixing point is being accurately positioned the position of swing arm.

On the basis of above-described embodiment, the clamping mechanism of electric magnet also has two kinds of feasible structures：Upset clamping mechanism Or lifting clamping structure.

The upset clamping mechanism includes the tooth plate being hinged with the electric magnet and for driving the tooth plate upset Tooth plate drive mechanism, is provided with the fixing breach being adapted with section bar along section bar orientation on the tooth plate；When needing tooth plate When being fixed, tooth plate drive mechanism drives the tooth plate to downwardly turn over, and the breach that fixes of tooth plate is arranged under electric magnet Side, at this moment, can fix to section bar, and when fixing section bar, tooth plate drive mechanism drives tooth plate to be flipped up, and turns over The top of electric magnet lower limb is gone to, so, absorption of the electric magnet to shaped steel is not affected.

The lifting clamping mechanism includes the tooth plate and drive the electromagnetism that the side with the electric magnet is slidably connected The tooth plate drive mechanism of ferrum lifting；It is provided with section bar to the fixing breach being adapted to along section bar orientation on the tooth plate.When When needing tooth plate to fix section bar, tooth plate driving means drive the tooth plate to decline, make the fixing breach of tooth plate spill electric magnet Lower limb, when not needing tooth plate to fix section bar, tooth plate drive mechanism drives the tooth plate to ramp up, and lacks the fixing of tooth plate Mouth is raised to the top of electric magnet lower limb, does not thus affect absorption of the electric magnet to section bar.

On the basis of above-described embodiment, wrist can also be fixedly connected on crossbeam, and angled inspection is arranged on electric magnet Mechanism is surveyed, so, the current angle of electric magnet is detected by angle detection mechanism, also, is driven by solenoid actuated mechanism Electromagnet turnover, it is also possible to make electric magnet reach predetermined angle.

More than, preferred embodiment only of the present utility model, but protection domain of the present utility model is not limited thereto, and appoints What those familiar with the art the change that can readily occur in or is replaced in the technical scope that this utility model is disclosed Change, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with claim The protection domain for being defined is defined.

Claims (7)

1. a kind of high speed piling system, it is characterised in that：Including Palletizer, the jacking equipment for lifting section bar；

The Palletizer includes " ┤ " shape frame, upset electric magnet, tooth plate, wrist, driving means, pre-tightening apparatus；The machine Frame includes vertical section and horizontal segment, and the rear end of the horizontal segment is connected with the middle part of the vertical section；Before the rack level section End is hinged with swing arm by the first jointed shaft；The lower end of the swing arm is hinged with wrist by the second jointed shaft；On the wrist Upset electric magnet is provided with, on the upset electric magnet, tooth plate is hinged with；The driving means are arranged on above rack level section, Drive the swing arm motion；The pre-tightening apparatus are arranged on the lower section of rack level section；

The jacking equipment includes hoistable platform, position block, and the position block is arranged on hoistable platform.

2. high speed piling system according to claim 1, it is characterised in that：The wrist is connected with multi link attitude-adjusting system Connect, the multi link attitude-adjusting system includes a wrist connecting shaft, a top links and bottom corresponding with the wrist Portion's connecting rod is rotatably connected with first jointed shaft rocking bar and the gesture drive mechanism for adjusting the wrist attitude；Institute State and in wrist connecting shaft, be provided with master arm and slave arm, the wrist that the master arm of the wrist connecting shaft is adjacent with top connects The slave arm of axle is hinged with transition link respectively, and the master arm of the connecting shaft of the top is hinged with the bottom of top links, described The top of top links is hinged by the 3rd jointed shaft with rocking bar, the slave arm of the wrist connecting shaft of bottom and the bottom The top of portion's connecting rod is hinged, and the bottom of the bottom linkage rod is hinged by the 4th jointed shaft with the wrist；First and third hinge Plane determined by the axis of spindle is parallel with plane determined by the axis of second, four jointed shafts, the transition link, top The diameter parallel of the axis of connecting rod and bottom linkage rod and the swing arm；The gesture drive mechanism drive the top links or The rocking bar motion.

3. high speed piling system according to claim 1, it is characterised in that：The position block is alternately block, described Alternately block includes the forward and backward block being arranged in order along the section bar direction of motion and drives the block lifting of the positive stop lifting Mechanism, described two blocks meet to section bar the side in the direction moved and are provided with spacing trigger mechanism.

4. high speed piling system according to claim 1, it is characterised in that：The pre-tightening apparatus include two ends respectively with institute State elastic mechanism and the flexible adjustment mechanism for adjusting the elastic force of the elastic mechanism that frame and the swing arm are hinged；

The gas bag that the elastic mechanism is included cylinder and connected with the cylinder, the flexible adjustment mechanism include source of the gas, are used for The source of the gas treatment element and the air gauge being arranged on the gas bag of connection source of the gas and gas bag；

Or, the elastic mechanism includes spring, and the flexible adjustment mechanism is included for adjusting spring and frame link position Position adjusting mechanism.

5. high speed piling system according to claim 1, it is characterised in that：Angular transducer is provided with the swing arm fixed Position mechanism, the angular transducer detent mechanism includes the angular transducer being connected with the first jointed shaft by booster engine, described First jointed shaft is connected with the low speed end of the booster engine, and the angular transducer is connected with the speed end of the booster engine, institute State swing arm to be connected with the first jointed shaft anti-rotation, the product of the angular range of the swing arm motion and the speed increasing ratio of booster engine is not More than the range of the angular transducer.

6. high speed piling system according to claim 1, it is characterised in that：Stroke compensating mechanism, institute are provided with frame Stating stroke compensating mechanism includes the stroke compensation mount being hinged with the frame and with the stroke compensation mount away from described The stroke compensation drive mechanism that frame side is hinged；It is hinged in the middle part of the driving means and the stroke compensation mount；The benefit The kinematic accuracy for repaying driving means is higher than the driving means.

7. a kind of high speed piling system, it is characterised in that：Including " ┤ " shape frame, swing arm, driving means, wrist and upset magnetic Ferrum；The frame includes horizontal segment and vertical section, and described horizontal segment one end is connected with the vertical section top, the rack level Duan Qianduan is hinged with swing arm by the first jointed shaft；Swing arm lower end is hinged with wrist by the second jointed shaft；Set on the wrist Upset electric magnet is equipped with, the driving means are arranged between the frame and swing arm and are hinged with swing arm.