CN206156376U - High -speed palletizing system of tape row journey compensation - Google Patents

Abstract

The utility model discloses a high -speed palletizing system of tape row journey compensation, its characterized in that: dual hydraulic cylinder drive arrangement, wrist, turnover electromagnet and the elevating platform of setting at the frame input including frame, davit, the compensation of tape row journey, the frame includes horizontal segment and vertical section, the horizontal segment rear end of frame with vertical section top is connected, the front end and the davit upper end of frame horizontal segment are articulated, the dual hydraulic cylinder drive arrangement of tape row journey compensation sets up the vertical section of frame front side with the davit is articulated, davit lower extreme fixedly connected with wrist, wrist swivelling joint has turnover electromagnet, turnover electromagnet bottom lateral wall swivelling joint has rotatory direction pinion rack, be equipped with accurate elevating gear on the elevating platform, the utility model discloses simple structure, convenient operation and can be high -speed accurate with the shaped steel pile up neatly.

Description

The high speed piling system of tape travel compensation

Technical field

The utility model is related to a kind of high speed piling system of tape travel compensation.

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 is mostly using hand stowage mode or " running vehicle type " Piling mode, hand stowage mode working strength is 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, the utility model provides a kind of high speed, the high speed piling system of accurately tape travel compensation.

To reach above-mentioned purpose, the high speed piling system of the utility model tape travel compensation, including frame, arm, band row Double hydraulic cylinder driving means, wrist, the lifting platform that overturns electromagnet and be arranged on frame input of journey compensation；

The frame includes horizontal segment and vertical section, and the horizontal segment rear end of the frame is connected with the vertical section top, The front end of the rack level section is hinged with arm upper end；

The double hydraulic cylinder driving means of the tape travel compensation are arranged on the frame vertical section front side and arm hinge Connect；The arm lower end is fixedly connected with wrist, and the wrist front end is rotatably connected and has upset electromagnet；The upset electromagnet Bottom end side wall is rotatably connected rotary steering tooth plate；The lifting platform is provided with precision lift device.

Preferably, the double hydraulic cylinder driving means of the tape travel compensation include：Driving hydraulic cylinder, connecting plate, compensation drive Mechanism, connecting lever, connecting rod, the driving hydraulic cylinder is connected with compensation drive mechanism by connecting plate, the compensating hydraulic cylinder, connecting plate peace It is mounted in frame, connecting plate middle part is hinged with driving hydraulic cylinder, and the other end is hinged with compensating hydraulic cylinder；The connecting lever corner is hinged In frame, one end is connected with driving hydraulic cylinder, the other end and rod hinge connection.

Preferably, the wrist includes being arranged on the connecting plate of arm bottom, the wrist includes connecting plate, and is connected to Two side plates being oppositely arranged on connecting plate；The upset electromagnet is arranged between two side plates；It is provided with the wrist Drive the drive mechanism of upset magnet upset.

Preferably, the upset electromagnet includes calutron and is arranged on the motor case of wrist side, the drive Two pitch wheels of different sizes and motor, the driving motor output shaft and little institute are provided with dynamic motor housing State gear to connect using axle, the calutron is connected with the big gear using axle.

Preferably, the rotation tooth plate includes fixed plate, is oriented to tooth plate and tooth plate driver, the fixed plate is fixed in turns over Turn the side wall bottom of electromagnet, the guiding tooth plate is hinged with the fixed plate, the driver respectively with the upset electromagnetism The upper end of iron and guiding tooth plate are hinged.

Preferably, the precision lift device be electronic ruler detent mechanism, the electronic ruler detent mechanism include electronic ruler, The location-plate being fixedly installed；The electronic ruler is straight line sensing electronic chi, and described electronic ruler one end connects with the lifting platform main body Connect, the other end of electronic ruler is connected with the location-plate.

Preferably, the upset magnet is provided with Magnetic Control system, the Magnetic Control system is included for detecting electricity The sensor of magnet positions and the control device of control electromagnet magnetic force size；Wherein, the control device is according to receiving Sensor detect upset electromagnet positional information output control information with adjust upset electromagnet magnetic force size.

A kind of high speed piling system of the utility model, including Palletizer, the Palletizer includes inverted L shape support, hangs Arm, driving means, wrist and upset magnet；The support includes horizontal segment and vertical section, and described horizontal segment one end is perpendicular with described Straight section top connects, and the arm is hinged with the horizontal segment other end by the first jointed shaft, and the driving means are arranged on It is hinged with arm between the support and arm, the wrist includes the connecting shaft of rear end and the parallel bracket of front end, described to hang Arm is hinged with the wrist, and the wrist front end is rotatably connected and has upset magnet；

The Palletizer is also included for compensating the compensation device of the kinematic accuracy of the arm driving means, for putting down Deadweight and pre-tightening apparatus, the positioner for being accurately positioned the boom position of load of weighing apparatus boom portion or whole.

Preferably, the driving means include the rotary shaft and drive rotation that drive link, rocking bar be rotatably connected with frame The drive mechanism of axis of rotation, the rocking bar is connected with the rotary shaft anti-rotation, and described drive link one end is cut with scissors with the rocking bar Connect, the other end is hinged with the arm；

Or, the arm is connected with the first jointed shaft anti-rotation, and the driving means include stretching structure, described to stretch The two ends of shrinking structure are hinged respectively with the arm and frame.

Preferably, the driving means are hinged by the compensation device with the frame；The compensation device include with Compensation mount that the frame is hinged and the compensation drive mechanism being hinged away from the frame side with the compensation mount；Institute State driving means to be hinged with compensation mount middle part；The kinematic accuracy of the compensation driving means is higher than the driving means；

Or, the compensation device includes 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 balanced controls that are hinged with the frame and the arm respectively of two ends and For adjusting the balance adjustment mechanism of the equilibrant force of the balanced controls；

The balanced controls include cylinder and the gas bag that connect with the cylinder, the balance adjustment mechanism including source of the gas, For the source of the gas treatment element for connecting source of the gas and gas bag and the air gauge that is arranged on the gas bag；

Or,

The pre-tightening apparatus include the balanced controls that are hinged with the frame and the arm respectively of two ends and for adjusting Save the balance adjustment mechanism of the equilibrant force of the balanced controls；

The balanced controls include spring, and the balance adjustment mechanism is included for adjusting spring and machine frame link position Position adjusting mechanism.

Preferably, the wrist includes being arranged on the connecting plate of arm bottom, the wrist includes connecting plate, and is connected to Two side plates being oppositely arranged on connecting plate；The upset electromagnet is arranged between two side plates；It is provided with the wrist Drive the drive mechanism of upset magnet upset；The connecting plate is affixed with the arm；Or, the connecting plate is provided with and institute State attitude-adjusting system or level-ling mechanism that arm is hinged；

The attitude-adjusting system includes a transition link be arrangeding in parallel with the arm and first jointed shaft The rocking bar being rotatably connected and the gesture drive mechanism for driving the transition link or the rocking bar, the upper end of the transition link It is hinged by the second jointed shaft with the rocking bar, the lower end of the transition link is hinged with the wrist by the 3rd jointed shaft, The axis co-planar of the jointed shaft of axis second of first and third jointed shaft；

The level-ling mechanism include a transition link be arrangeding in parallel with the arm, the transition link it is upper End is hinged with the frame by the second jointed shaft, and the lower end of the transition link is cut with scissors by the 3rd jointed shaft with the wrist Connect, the axis of first and third jointed shaft and the second jointed shaft axis co-planar.

Preferably, driving the drive mechanism of upset magnet upset includes rotating hydraulic cylinder or reducing motor, described time The output shaft for turning hydraulic cylinder or reducing motor is connected with the electromagnet；

Or, the drive mechanism also drives including wrist booster engine；The wrist booster engine includes being arranged on wrist Driving gear, the driven gear that is arranged on electromagnet and for by the motion transmission of driving gear to driven gear extremely A few travelling gear and telescoping mechanism；Described telescoping mechanism one end is hinged with wrist, and one end is hinged with fork, the fork with The driving gear is coaxially connected；The driven gear is m/n with the gearratio of driving gear, wherein, m is the rotation of electromagnet Angle, n is the angle that electromagnet telescoping drive mechanism drives fork rotation, and the stretching structure can be hydraulic cylinder.

Preferably, the positioner is that mobile ranging localization mechanism, fixed ranging localization mechanism or angular transducer are fixed Position mechanism；

The mobile ranging localization mechanism include with arm be hinged range measurement mechanism, for keeping the measuring mechanism water The location-plate that flat level-ling mechanism and the correspondence range measurement mechanism kinematic scope is arranged；The height of the location-plate Not less than the difference of the height of the peak and minimum point of arm bottom motion；When the arm bottom moves to peak When, the top of the corresponding location-plate of the range measurement mechanism, when the arm bottom moves to minimum point, the distance The bottom of the measuring mechanism correspondence location-plate；Or, the location-plate includes that the correspondence range measurement mechanism moves upwards It is lower fixed that rear 1/2 upper location-plate for arranging of scope and rear the 1/2 of correspondence range measurement mechanism downward range of motion are arranged Position plate；When the arm bottom moves to peak, the corresponding upper location-plate of the range measurement mechanism, when the arm When 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 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 peak and the difference of minimum point height of arm bottom motion；It is described when the arm bottom moves to peak The bottom of the range measurement mechanism correspondence location-plate, when the 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 arm bottom moves to During peak, the corresponding upper measuring mechanism of the location-plate, when the 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 arm to be connected with the first jointed shaft anti-rotation, the angular range of the arm motion is with the product of the speed increasing ratio of booster engine not More than the range of the angular transducer.

Preferably, the positioner also includes motion control mechanism, the motion control mechanism is described including being arranged on Arm move upwards rear 1/2 in the range of upper trigger mechanism, be arranged in the range of the arm is moved downward rear 1/2 Lower trigger mechanism and with the upper trigger mechanism and the controller of lower trigger mechanism communication；The controller with it is described Mobile ranging localization mechanism, fixed ranging localization mechanism and angular transducer detent mechanism communication, the controller control The driving means and the compensation device；The upper trigger mechanism and the lower trigger mechanism are proximity switch.

Preferably, being provided with section bar clamping mechanism on the upset magnet, the section bar clamping mechanism is slip fixing machine Structure, upset clamping mechanism or lifting clamping mechanism；

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

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

The lifting clamping mechanism includes the tooth plate being slidably connected with the side of the upset magnet and drives the electricity The tooth plate drive mechanism of magnet lifting；It is provided with section bar to the fixing breach being adapted to along section bar orientation on the tooth plate.

The utility model adopts arm hanging type structure, and piling speed is fast, and the double hydraulic cylinder for additionally using tape travel compensation drives Dynamic, it is ensured that the precision of piling, while overturning electromagnet bottom is additionally provided with guiding tooth plate, the neat accurately pile of shaped steel rises when making piling Come, improve the efficiency of piling and accurate.

Description of the drawings

Fig. 1 is the structural representation of the utility model high speed piling mechanical system；

Fig. 2 is a kind of preferred compositions side of the compensation device with driving means of the utility model high speed piling mechanical system Formula；

Fig. 3 is the schematic diagram of the wrist level maintaining body of the utility model high speed piling system；

Fig. 4 is a kind of preferred compositions mode of the utility model high speed piling system balance device and driving means；

Fig. 5 is a kind of preferred embodiment of the utility model high speed piling system pre-tightening apparatus；

Fig. 6 is a kind of preferred structure for driving upset magnet arrangement；

Fig. 7 is the preferred structure schematic diagram of the utility model high speed piling system movement ranging localization mechanism；

Fig. 8 is the system block diagram of the utility model high speed piling system positioning device；

Fig. 9 is the workflow diagram of the utility model high speed piling system positioning device；

Figure 10 is the structural representation that the utility model high speed piling system translates clamping mechanism；

Figure 11 is the structural representation that the utility model high speed piling system fixes ranging localization mechanism；

Figure 12 is the structural representation of the utility model high speed piling system perspective sensor positioning mechanism.

Specific embodiment

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

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 1

As shown in figure 1, the high speed piling system of the present embodiment tape travel compensation, including the compensation of frame 1, arm 2, tape travel Double hydraulic cylinder driving means, wrist 7, upset electromagnet 6 and be arranged on the lifting platform of frame input；

The frame 1 includes horizontal segment 101 and vertical section 102, and the rear end of horizontal segment 101 of the frame 1 is vertical with described The connection of 102 tops of section, front end and the upper end of arm 2 of the horizontal segment 101 of the frame 1 are hinged；

The double hydraulic cylinder driving means of tape travel compensation be arranged on the front side of vertical section 102 of the frame 1 and with institute State arm 2 to be hinged；The lower end of the arm 2 is fixedly connected with wrist 7, and the front end of the wrist 7 is rotatably connected upset electromagnet 6； The upset bottom end side wall of electromagnet 6 is rotatably connected and has rotary steering tooth plate；The lifting platform is provided with precision lift device；

The double hydraulic cylinder driving means of the tape travel compensation include：Driving hydraulic cylinder, connecting plate, compensating hydraulic cylinder 402, turn Arm 303, connecting rod 301, the driving hydraulic cylinder is connected with compensating hydraulic cylinder 402 by connecting plate, the compensating hydraulic cylinder 402, company Plate is arranged in frame, and connecting plate middle part is hinged with driving hydraulic cylinder, and one end is hinged with compensating hydraulic cylinder 402；The connecting lever 303 is turned It is hinged at angle in frame 1, one end is connected with driving hydraulic cylinder, the other end is hinged with connecting rod 31；

The wrist 7 includes being arranged on the connecting plate of the bottom of arm 2, and the wrist 7 includes connecting plate, and is connected to connection Two side plates being oppositely arranged on plate；The upset electromagnet 6 is arranged between two side plates；Drive is provided with the wrist 7 The drive mechanism of dynamic upset magnet upset；

The upset electromagnet 6 includes calutron and is arranged on the motor case of wrist side, the motor Two pitch wheels of different sizes and motor, the driving motor output shaft and the little gear are provided with case Connected using axle, the calutron is connected with the big gear using axle；

The rotary steering tooth plate includes fixed plate, is oriented to tooth plate 608 and tooth plate driver 607, and the fixed plate is affixed In the side wall bottom of upset electromagnet 6, the guiding tooth plate 608 is hinged with the fixed plate, the driver 607 respectively with institute State the upper end of upset electromagnet 6 and be oriented to tooth plate and be hinged；

When palletizing system is started working, the double hydraulic cylinder driving means of tape travel compensation drive the arm to swing, institute Stating arm drives the upset electromagnet that the wrist front end is rotatably connected to swing, and the upset electromagnet is rotated in swing Keep Level Adsorption and release shaped steel, the upset electromagnet needs to carry out code and anti-in the process for adsorbing and discharging shaped steel Code, the upset electromagnet can produce site error in code and radix-minus-one complement, and the biliquid hydraulic driver control arm is carried out Position compensation, make upset electromagnet code and radix-minus-one complement alternately when will not produce site error, the upset electromagnet bottom End is provided with rotary steering tooth plate, and in code, the rotary steering tooth plate is rotated and coordinates fixed shaped steel position with shaped steel, works as radix-minus-one complement When, the rotary steering tooth plate turns to the position for not interfering shaped steel.

The present embodiment simple structure is easy to operate, can realize at a high speed and accurately carry out piling, improves the efficiency of piling.

Embodiment 2

Precision lift device described in the present embodiment is electronic ruler detent mechanism, and the electronic ruler detent mechanism includes electronics Chi, the location-plate being fixedly installed；The electronic ruler is straight line sensing electronic chi, described electronic ruler one end and the lifting platform main body Connection, the other end of electronic ruler is connected with the location-plate；

When the lifting platform main body rises or declines, electronic ruler one end movement is driven, when the electronic ruler is moved When moving required height, the location-plate positioning, the lifting platform main body stops rising or declines.

The present embodiment has been precisely controlled the lifting position of lifting platform, upset electromagnet is accurately adsorbed when piling is carried out Shaped steel, improves the accuracy of piling.

Embodiment 3

Magnet is overturn described in the present embodiment and is provided with Magnetic Control system, the Magnetic Control system is included for detecting electricity The sensor of magnet positions and the control device of control electromagnet magnetic force size；Wherein, the control device is according to receiving Sensor detect upset electromagnet positional information output control information with adjust upset electromagnet magnetic force size；

The positional information output control letter of the upset electromagnet that the control device is detected according to the sensor for receiving Ceasing the method to adjust the magnetic force size for overturning electromagnet is：When the upset electromagnet turnover is detected to first phase, Control device control electromagnet magnetic force is located at first interval；When the upset electromagnet turnover is detected to other phase places, control Device control electromagnet magnetic force processed is located at second interval.

When the upset electromagnet 6 is rotated, the sensor receives signal, and the sensor is by received letter The control device number is passed to, the control device receives the working condition that upset electromagnet 6 is judged after signal, so as to control The power-on voltage of electromagnet come control overturn electromagnet 6 magnetic force；

When upset electromagnet 6 is downwardly turned over, the power for needed for maintaining the balance of carrying article is also bigger, and system will be certainly It is dynamic to improve electromagnet coil voltage, so as to increase electromagnetic force, keep article to stablize；

When gravity can provide frictional force, the power for needed for keeping the balance of carrying article is little, and system will drop automatically Low electromagnet coil voltage, reduces magnet heating.

The Control system architecture of the present embodiment is simple, processing ease, effectively reduces the high load capacity work of upset electromagnet 6 Make, improve the service life of upset electromagnet 6.

Embodiment 4

A kind of high speed piling system of the present embodiment, including Palletizer, the Palletizer includes inverted L shape support 1, arm 2nd, driving means, wrist 7 and upset magnet 6；The support 1 includes horizontal segment 101 and vertical section 102, the horizontal segment 101 1 End is connected with the top of the vertical section 102, and the arm 2 is cut with scissors with the other end of the horizontal segment 101 by the first jointed shaft 201 Connect, the driving means are arranged between the support 1 and arm 2 and are hinged with arm 2, and the arm 2 cuts with scissors with the wrist 7 Connect, the front end of the wrist 7 is rotatably connected upset magnet 6；

The Palletizer is also included for compensating the compensation device of the kinematic accuracy of the driving means 3 of the arm 2, using Pre-tightening apparatus, the positioning for being accurately positioned the position of the arm 2 in all or part of deadweight of balance arm 2 and load are filled Put.

Rotary shaft and drive rotation that the driving means are rotatably connected including drive link 301, rocking bar 303 with frame The drive mechanism 302 of axis of rotation, the rocking bar 303 is connected with the rotary shaft anti-rotation, one end of the connecting rod 301 with it is described Rocking bar 303 is hinged, and the other end of the connecting rod 301 is hinged with the arm；One of rocking bar 303 is the one arm of connecting lever, Drive mechanism 302 is electric cylinders, hydraulic cylinder or cylinder, and the expansion link of the electric cylinders, hydraulic cylinder or cylinder is another with the connecting lever Arm is hinged, and the cylinder body of the electric cylinders, hydraulic cylinder or cylinder is hinged by compensation device with the frame.

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

The compensation device include the compensation mount 401 being hinged with the frame and with the compensation mount 401 away from The compensation drive mechanism 402 that the frame side is hinged；The driving means are hinged with the middle part of the compensation mount 401；It is described The kinematic accuracy of compensation driving means is higher than the driving means；

As shown in figure 5, the pre-tightening apparatus include the balanced controls that two ends are hinged respectively with the frame and the arm And for adjusting the balance adjustment mechanism of the equilibrant force of the balanced controls；

The balanced controls include cylinder 501 and the gas bag 510 connected with the cylinder, and the balance adjustment mechanism includes Source of the gas 516, the source of the gas treatment element 512 for connecting source of the gas 516 and gas bag 510 and the gas being arranged on the gas bag 510 Pressure table 511；

The balance cylinder 501 is arranged between swing arm 2 and support body 1, and swing arm deadweight is supported in the course of action of swing arm 2.

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 512 are inflated compressed-air-storing to gas bag 510, manually adjustable ball valve 513 to gas bag 510, also can adjust gas bag 510 On relief valve deflated.

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

The cylinder intake unit 502 by welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506, The welded still pipe 508 of articulation 507 and pipe reducer 509 are connected with gas bag 510, can manual-lock or open ball valve 506 with Just the gas distribution channel between gas bag 510 and balance cylinder 501 is controlled.

The gas bag 510 is placed on the side of palletizing mechanical arm support body 1 or more nearby, the ball valve between gas bag 510 and cylinder 506 are arranged on support body 1 position for being easy to operate.

The wrist 7 includes being arranged on the connecting plate of the bottom of arm 2, and the wrist includes connecting plate, and is connected to connection Two side plates being oppositely arranged on plate；The upset electromagnet is arranged between two side plates；Driving is provided with the wrist 7 The drive mechanism of upset magnet upset；The connecting plate is affixed with the arm 2；Or, the connecting plate be provided with it is described Attitude-adjusting system or level-ling mechanism that arm 2 is hinged；

The attitude-adjusting system includes a transition link be arrangeding in parallel with the arm and first jointed shaft The gesture drive mechanism of 201 rocking bars being rotatably connected and the driving transition link or the rocking bar, the transition link Upper end is hinged with the rocking bar by the second jointed shaft, and the lower end of the transition link is cut with scissors with the wrist by the 3rd jointed shaft Connect, the axis co-planar of the jointed shaft of axis second of first and third jointed shaft；

The level-ling mechanism include a transition link be arrangeding in parallel with the arm, the transition link it is upper End is hinged with the frame by the second jointed shaft, and the lower end of the transition link is cut with scissors by the 3rd jointed shaft with the wrist Connect, the axis of first and third jointed shaft and the second jointed shaft axis co-planar；

As shown in fig. 6, driving the drive mechanism of the upset upset of magnet 6 includes rotating hydraulic cylinder or reducing motor, institute The output shaft for stating rotating hydraulic cylinder or reducing motor is connected with the electromagnet；

Or, the drive mechanism also drives including wrist booster engine；The wrist booster engine includes being arranged on wrist Driving gear, the driven gear that is arranged on electromagnet and for by the motion transmission of driving gear to driven gear extremely A few travelling gear and telescoping mechanism 702；Described telescoping mechanism one end is hinged with wrist, and one end is hinged with fork, the pendulum Bar is coaxially connected with the driving gear；The driven gear is m/n with the gearratio of driving gear, wherein, m is electromagnet The anglec of rotation, n is the angle that electromagnet telescoping drive mechanism 702 drives fork rotation, and the stretching structure 702 can be hydraulic pressure Cylinder.

As Figure 7-9, the positioner is mobile ranging localization mechanism；The mobile ranging localization mechanism include with Arm or crossbeam bottom are hinged range measurement mechanism, the level-ling mechanism for keeping the measuring mechanism level and correspondence The location-plate that the range measurement mechanism kinematic scope is arranged；The height of the location-plate 215 is transported not less than the arm bottom Dynamic peak and the difference of the height of minimum point；When the arm bottom moves to peak, the range measurement mechanism pair The top of the location-plate 215 is answered, when the arm bottom moves to minimum point, the range measurement mechanism correspondence is described fixed The bottom of position plate 215；Positioner also include motion control mechanism, the motion control mechanism include be arranged on the arm to Upper trigger mechanism in the range of rear the 1/2 of upper motion, lower touching of being arranged in the range of the arm is moved downward rear 1/2 The controller sent out mechanism and communicate with the upper trigger mechanism and the lower trigger mechanism；The controller and the mobile survey Away from detent mechanism communication, the controller controls the driving means and the compensation device；The upper trigger mechanism and described Lower trigger mechanism is proximity switch.The range measurement mechanism includes shading protecting box 213 and is arranged on the shading protecting box Laser ranging mechanism 214 in 213；

As shown in Figure 10, section bar clamping mechanism is provided with the electromagnet, the section bar clamping mechanism is fixed to slide Mechanism；The slip clamping mechanism includes the tooth plate 608 being slidably connected with the electromagnet and for driving the tooth plate 608 The tooth plate drive mechanism 607 of slip, the fixing breach that section bar is adapted is provided with the tooth plate 608 along section bar orientation.

Embodiment 5

Below to the worked of the parallel high-speed palletizing mechanical arm of the present embodiment by taking the palletization of small dimension angle steel as an example Journey is illustrated：

A kind of original state of the present embodiment is as illustrated, under this state, the arm driving means 3 are in arm 2 Plumbness, the magnetic pole of upset electromagnet 6 is downward.

During positive code steel, the arm driving means 3 drive connecting lever 303 to rotate, and other rocking bars 303 are connected by axle 305 Rotation, and then drive drive link 301 to promote arm 2 to swing forward, until upset electromagnet 6 is connect on steel position positioned at shaped steel Side, then grouping drive apparatus driving is grouped hoistable platform main body and moves upwards, when packet hoistable platform main body is moved upward to The position that electromagnet 6 draws angle steel is suitable to, then electromagnet suction 6 takes angle steel, when the absorption angle steel of electromagnet, the turning of angle steel Fix in the fixing breach of tooth plate 608, make angle steel keep attitude not change, then driving means 3 drive arm 2 to roller Road hoistable platform motion, until when upset electromagnet 6 is located at roller-way top, roller-lifting platform rises to is easy to electromagnet 6 to put The position of lower angle steel, now, electromagnet 6 puts down angle steel.In the motion process of arm, because wrist multi link level keeps filling Put and define two parallel four-bar linkages, and the original state of wrist 7 is horizontality, therefore, in whole service process In, wrist 7 remains level.

Subsequently carry out reverse code steel, need first piling section bar by be grouped lifting platform be promoted to it is higher connect steel position, then drive The action of motivation structure 302, drives arm forward swing to steel position is connect, subsequently electricity by connecting lever 303, axle 305, rocking bar 303 and connecting rod 301 Magnet retractable driving device 702 is stretched out, and drives trip shaft 701 to rotate, and drives upset electromagnet 6 to rotate by reduction box, makes magnetic Extremely level draws upwards angle steel.Because angle steel is in code, it is inShape, during angle steel radix-minus-one complement, previously code is good for superposition Angle steel on, be inShape, code is the opening down of angle steel, and radix-minus-one complement is the opening up of angle steel.When angle steel just Code when, due to be angle steel closed angle end upward, and electromagnet 6 be single line contact, contact area very little, it is easy in electromagnet 6 It is upper to produce rollover, so guiding tooth plate 608 must be arranged on electromagnet, the angle steel of code is oriented to.But subsequent Radix-minus-one complement during, be oriented to tooth plate 608 can and code angle steel interfere, it is therefore desirable to the edge for making angle steel is contacted with horizontal plane, 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 608 of angle steel Straight portion alignment.Then it is grouped lifting platform to move downward, angle steel is drawn on electromagnet 6, and lifting platform to be grouped leaves and turns over After turning region, electromagnet telescoping drive mechanism 702 is retracted, and upset electromagnet 6 reversely rotates 180 °；Then driving means 302 are driven Dynamic connecting lever 303 is moved, and drives arm 2 to be rocked to reverse code steel position by axle 305, rocking bar 303 and connecting rod 301, treats that arm is arrived Behind position, the dead electricity of electromagnet 6 is overturn, steel fall on piling lifting platform.

In the motion process of arm, the pressure in the gas bag 510 of the present embodiment should meet：First, balance cylinder 501 is pushed away The trimming moment that power is produced slightly larger than generation of conducting oneself with dignity during swing arm motion the maximum load moment of resistance, two, gas bag 510 is whole Pressure is basically unchanged during driving.Under the conditions of above-mentioned two, the effect without drive link, swing arm will be in balance cylinder 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；The forward swing of swing arm 2 is connect after steel, increased the weight of steel, and 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 the course of action of swing arm 2, 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.Arm is conducive to swing During precision improve.

In the motion process of arm, the motion latter end of arm is positioned by positioner, its process is as follows： During forward swing, arm 2 starts the period by the full-speed operation of driving means 302 in motion, drives arm 2 quickly to move, arm 2 When upper trigger mechanism, into motion latter end, controller obtains the current location of arm 2 by positioner, and controls to drive Device 302 drives arm motion, and when arm is when being closely located to precalculated position, controller control and compensation device drives arm 2 to transport Dynamic, the kinematic accuracy of compensation device is high, can so make arm accurately stop at precalculated position, the process put after arm 2 with The similar process of forward swing.So, the initial segment of motion need not be calculated, and can greatly reduce the operand of controller.And at end Section, range measurement mechanism measures the position of arm, and error is very little, then drives arm motion by high-precision compensation device, Arm can be made accurately to stop at precalculated position.

Embodiment 6

Driving means are replaced by telescoping mechanism by the present embodiment, and the arm is connected with the anti-rotation of the first jointed shaft 201, The two ends of the telescoping mechanism are hinged respectively with the arm and frame.

In the present embodiment, arm is connected with the anti-rotation of the first jointed shaft 201, then arm is driven by telescoping mechanism 2 are moved, now because arm 2 is connected with the anti-rotation of the first jointed shaft 201, therefore, arm 2 also can be moved.This reality Applying example will be moved using telescoping mechanism direct drive arm 2, be not driven, and can reduce the energy ezpenditure in transmission process, Improve energy conversion efficiency.

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 11, the fixed ranging localization mechanism includes the location-plate 215 being hinged with 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 The height of position plate 215 is not less than the peak of arm bottom motion and the difference of minimum point height；When arm bottom fortune When moving peak, the bottom of the range measurement mechanism correspondence location-plate 215, when the arm bottom move to it is minimum During point, the top of the corresponding location-plate 215 of the range measurement mechanism.Said structure also can by measurement arm lower end with The distance of a certain fixing point is being accurately positioned the position of arm.

It is of course also possible to by the position for measuring the anglec of rotation of arm to position arm, now be accomplished by adopting angle Sensor positioning mechanism, as shown in figure 12, the angular transducer detent mechanism is included by the jointed shaft of booster engine 210 and first The angular transducer 212 of connection, the housing of the angular transducer 212 is arranged on rotating base 211, the rotating base 211 are rotatably connected with shell or the first jointed shaft, are provided with the rotating base 211 and for rotating base 211 to be locked at shell Or first locking device on jointed shaft, first jointed shaft is connected with the low speed end of the booster engine 210, and the angle is passed Sensor 212 is connected with the speed end of the booster engine 210, and the arm is connected with the first jointed shaft anti-rotation, the arm The angular range of motion is not more than the range of the angular transducer 212 with the product of the speed increasing ratio of booster engine 210.Said structure First jointed shaft is connected by speeder with angular transducer 212, when the first jointed shaft rotates an angle, speedup dress Put the expanded range of the measuring section of angular transducer 212 by speedup, the resolution of angular transducer 212 is strengthened with this indirectly Rate.When manipulator is swung, axle of its mechanical movement around arm end is rotated, while just drive being connected to Booster engine 210 on axle runs.If swing arm traffic coverage is [0, A], after being amplified than k by the speed of booster engine 210, booster engine 210 is high Fast end traffic coverage is really [0, kA].If sensor resolution is B, because sensor is connected to the speed end of booster engine 210, institute Measurement Resolution with the speed end of booster engine 210 is as B, and the Measurement Resolution at the low speed end of booster engine 210 is B/k, that is to say, that Measurement apparatus proposed by the present invention, the resolution ratio measured for swing arm is B/k, and precision improves k times.

On the basis of above-described embodiment, the clamping mechanism of electromagnet 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 electromagnet and for driving the tooth plate upset Tooth plate drive mechanism, is provided with along section bar orientation the fixing breach being adapted with section bar 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 for making tooth plate is arranged under electromagnet 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 electromagnet lower limb is gone to, so, absorption of the electromagnet to shaped steel is not affected.

The lifting clamping mechanism includes the tooth plate being slidably connected with the side of the electromagnet and drives the electromagnetism The tooth plate drive mechanism of iron 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, and the fixing breach for making tooth plate spills electromagnet Lower limb, when not needing tooth plate to fix section bar, tooth plate drive mechanism drives the tooth plate to ramp up, and the fixing for making tooth plate lacks Mouth is raised to the top of electromagnet lower limb, does not thus affect absorption of the electromagnet to section bar.

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 replaces in the technical scope that the utility model is disclosed Change, all should 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 (8)

1. the high speed piling system that a kind of tape travel is compensated, it is characterised in that：Including the biliquid that frame, arm, tape travel are compensated Cylinder pressure driving means, wrist, the lifting platform for overturning electromagnet and being arranged on frame input；

The frame includes horizontal segment and vertical section, and the horizontal segment rear end of the frame is connected with the vertical section top, described The front end of rack level section is hinged with arm upper end；

The double hydraulic cylinder driving means of the tape travel compensation are arranged on the frame vertical section front side and are hinged with the arm； The arm lower end is fixedly connected with wrist, and the wrist is rotatably connected upset electromagnet；The upset electromagnet bottom end side Wall is rotatably connected rotary steering tooth plate；The lifting platform is provided with precision lift device.

2. the high speed piling system that as claimed in claim 1 a kind of tape travel is compensated, it is characterised in that：The tape travel compensation Double hydraulic cylinder driving means include：Driving hydraulic cylinder, connecting plate, compensating hydraulic cylinder, connecting lever, connecting rod, the driving hydraulic cylinder and benefit Repay hydraulic cylinder to connect by connecting plate, the compensating hydraulic cylinder, connecting plate are arranged in frame, connecting plate middle part is cut with scissors with driving hydraulic cylinder Connect, the other end is hinged with compensating hydraulic cylinder；The connecting lever corner is hinged in frame, and one end is connected with driving hydraulic cylinder, separately One end and rod hinge connection.

3. the high speed piling system that as claimed in claim 1 a kind of tape travel is compensated, it is characterised in that：The wrist includes arranging In the connecting plate of arm bottom, the wrist includes connecting plate, and is connected to two side plates being oppositely arranged on connecting plate；It is described Upset electromagnet is arranged between two side plates；The drive mechanism for driving upset magnet upset is provided with the wrist.

4. the high speed piling system that as claimed in claim 1 a kind of tape travel is compensated, it is characterised in that：The upset electromagnet bag Include and calutron and be arranged on the motor case of wrist side, two are provided with the motor case and of different sizes are mutually nibbled The gear and motor of conjunction, the driving motor output shaft is connected with the little gear using axle, the calutron with The big gear is connected using axle.

5. the high speed piling system that as claimed in claim 1 a kind of tape travel is compensated, it is characterised in that：The rotary steering tooth plate Including fixed plate, tooth plate and tooth plate driver are oriented to, the fixed plate is fixed in the side wall bottom of upset electromagnet, the guiding Tooth plate is hinged with the fixed plate, and the driver is hinged respectively with the upper end for overturning electromagnet and guiding tooth plate.

6. the high speed piling system that as claimed in claim 1 a kind of tape travel is compensated, it is characterised in that：The precision lift device For the location-plate that electronic ruler detent mechanism, the electronic ruler detent mechanism include electronic ruler, are fixedly installed；The electronic ruler is straight Line sensing electronic chi, described electronic ruler one end is connected with the lifting platform main body, and the other end of electronic ruler connects with the location-plate Connect.

7. the high speed piling system that as claimed in claim 1 a kind of tape travel is compensated, it is characterised in that：Set on the upset magnet There is Magnetic Control system, the Magnetic Control system includes the sensor for detecting electromagnet position and control electromagnet magnetic force The control device of size；Wherein, the position letter of the upset electromagnet that the control device is detected according to the sensor for receiving Breath output control information overturns the magnetic force size of electromagnet to adjust.

8. a kind of high speed piling system, it is characterised in that：Including Palletizer, the Palletizer includes inverted L shape support, hangs Arm, driving means, wrist and upset magnet；The support includes horizontal segment and vertical section, and described horizontal segment one end is perpendicular with described Straight section top connects, and the arm is hinged with the horizontal segment other end by the first jointed shaft, and the driving means are arranged on It is hinged with arm between the support and arm, the arm is connected with the wrist, being rotatably connected on the wrist has upset Magnet；

The Palletizer is also included for compensating the compensation device of the kinematic accuracy of the arm driving means, for balance crane The deadweight of arm section or whole and the pre-tightening apparatus of load, the positioner for being accurately positioned the boom position.