CN206232127U - High speed piling system with precise positioning - Google Patents

Abstract

The utility model discloses a kind of high speed piling system with precise positioning, including frame, arm, drive device, wrist and upset electromagnet；The frame includes horizontal segment and vertical section, and the horizontal segment rear end of the frame is connected with the vertical section top, and the front end of the rack level section is hinged with arm upper end by the first jointed shaft；The drive device is hinged with frame vertical section front side and the arm respectively；The arm lower end connects wrist, and the wrist is provided with wrist attitude-adjusting system, and the wrist rotatable connection has upset electromagnet；The upset electromagnet bottom slidably connects guided in translation tooth plate；The frame vertical section is provided with the accurate-location device for being accurately positioned the boom position, the utility model simple structure, easy to operate and can be at a high speed accurately by shaped steel stacking.

Description

High speed piling system with precise positioning

Technical field

The utility model is related to a kind of high speed piling system with precise positioning.

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 Required 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 uses hand stowage mode or " running vehicle type " mostly Stacking 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

Regarding to the issue above, the utility model provides a kind of high speed, accurately the high speed piling system with precise positioning.

To reach above-mentioned purpose, high speed piling system of the utility model with precise positioning, including frame, arm, driving Device, wrist and upset electromagnet；

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 by the first jointed shaft；

The drive device is hinged with frame vertical section front side and the arm respectively；The arm lower end connects wrist Portion, the wrist is provided with wrist attitude-adjusting system, and the wrist front end rotatable connection has upset electromagnet；The upset electricity Magnet bottom slidably connects guided in translation tooth plate；The frame vertical section is provided with for being accurately positioned the boom position Accurate-location device.

Preferably, wrist side wall is additionally provided with outlet box, the upset electromagnet is set with outlet box side by inside The hollow rotary shaft for having through hole is connected；

The hollow rotary shaft is connected with the upset electromagnet junction by fixed form, and the fixed form includes Bolt connection and welding, the hollow rotary shaft are connected with the wrist using bearing rotary, the power supply of the upset electromagnet Line and signal line group into wire harness guided in the outlet box by the through hole.

Preferably, the wrist pose adjustment structure includes a transition link set with the arm parallel rotating, The transition link upper end is hinged with top links one end, and the top links other end passes through rocking bar with first jointed shaft Be hinged, the rocking bar is also hinged with driver, the transition link lower end is hinged with bottom linkage rod, the bottom linkage rod with it is described Wrist is hinged, the top links, the bottom linkage rod and translation link coplanar.

Preferably, the guided in translation toothed plate device includes sliding block, is oriented to tooth plate, the swing rod being arranged on sliding block and driving The driver of sliding block movement, a part of bottom with the upset electromagnet of the sliding block is slidably connected, and another part stretches out institute State upset electromagnet bottom to be hinged with one end of the swing rod, the guiding truss plate connection is in the sliding block and the upset electromagnetism The lower end of iron side attachment portion；The driver is hinged with the swing rod.

Preferably, the positioner is mobile ranging localization mechanism；The mobile ranging localization mechanism includes and arm The range measurement mechanism being hinged, the level-ling mechanism for keeping the measuring mechanism level and the correspondence range measurement The location-plate that mechanism kinematic scope is set；The height of the location-plate not less than the arm bottom motion peak with it is minimum The difference of the height of point；When the arm bottom moves to peak, the range measurement mechanism corresponds to the upper of the location-plate Portion, when the arm bottom moves to minimum point, the bottom of the range measurement mechanism correspondence location-plate；

Or, the location-plate includes the upper fixed of rear 1/2 setting of correspondence range measurement mechanism range of upward movement The rear 1/2 lower location-plate for setting of position plate and correspondence range measurement mechanism downward range of motion；When arm bottom fortune When moving peak, the range measurement mechanism correspondence upper location-plate, when the arm bottom moves to minimum point, institute State the range measurement mechanism correspondence lower location-plate.

Preferably, the wrist includes connecting plate, and it is connected to two side plates being oppositely arranged on connecting plate；The upset Electromagnet is arranged between two side plates；The drive mechanism for driving upset electromagnet turnover is set on the wrist.

Preferably, the upset electromagnet is provided with Magnetic Control system, the Magnetic Control system is included for detecting The sensor of electromagnet position and the control device of control electromagnet magnetic force size；Wherein, the control device is according to receiving The positional information output control information of upset electromagnet that detects of sensor adjusting the magnetic force size of upset electromagnet；

The positional information output control letter of the upset electromagnet that the control device is detected according to the sensor for receiving Cease and be in the method for the magnetic force size for adjusting upset electromagnet：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 phases, control Device control electromagnet magnetic force processed is located at second interval

A kind of high speed piling system of the utility model, including Palletizer, the Palletizer include inverted L shape support, hang Arm, drive device, wrist and upset electromagnet；The support include horizontal segment and vertical section, described horizontal segment one end with it is described Vertical section top is connected, and the arm is hinged with the horizontal segment other end by the first jointed shaft, and the drive device is set 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 Arm is hinged with the wrist, and the wrist front end rotatable connection has upset electromagnet；

The Palletizer also include for compensate the arm drive device kinematic accuracy compensation device, 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 drive device includes the rotary shaft that drive link, rocking bar be rotatably connected with frame and drives to revolve 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 drive device includes stretching structure, described to stretch The two ends of shrinking structure are hinged with the arm and frame respectively.

Preferably, the drive device is 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； The drive device is hinged with compensation mount middle part；The kinematic accuracy of the compensation drive device drives dress higher than described Put；

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 drive device is 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 Balance adjustment mechanism for adjusting 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 air gauge for connecting the source of the gas treatment element of source of the gas and gas bag and be 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 connecting plate, and it is connected to two side plates being oppositely arranged on connecting plate；The upset Electromagnet is arranged between two side plates；The drive mechanism for driving upset electromagnet turnover is provided with the wrist；The company Fishplate bar is affixed with the arm；Or, the connecting plate is provided with the attitude-adjusting system or level guarantor being hinged with the arm Hold mechanism；

The attitude-adjusting system is hinged including a transition link being be arranged in parallel with the arm and described first The rocking bar of axle rotatable connection and drive the gesture drive mechanism of the transition link or the rocking bar, the transition link it is 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 being be arranged 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 electromagnet turnover includes rotating hydraulic cylinder or reducing motor, it is described The output shaft of 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 Few a travelling gear and telescoping mechanism；Described telescoping mechanism one end is hinged with wrist, and one end is hinged with swing rod, the swing rod 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 swing rod 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 with arm including being 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 set；The height of the location-plate Difference of the degree not less than the height of the peak and minimum point of arm bottom motion；When the arm bottom moves to peak When, the top of the range measurement mechanism correspondence location-plate, 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 setting of scope and rear the 1/2 of correspondence range measurement mechanism downward range of motion are set Position plate；When the arm bottom moves to peak, the range measurement mechanism correspondence upper location-plate, when the arm When bottom moves to minimum point, the range measurement mechanism correspondence lower location-plate；

The fixed ranging localization mechanism include be hinged with arm or crossbeam bottom location-plate, for keeping the positioning The range measurement mechanism that the vertical vertical maintaining body of plate and the correspondence location-plate are set；The height of the location-plate is not small 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 setting of the correspondence location-plate range of upward movement With the rear 1/2 lower range measurement mechanism for setting of the correspondence location-plate downward range of motion, when the arm bottom moves to During peak, the location-plate correspondence upper measuring mechanism, 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 product of the angular range of the arm motion and the speed increasing ratio of booster engine The range of no more than described angular transducer.

Preferably, the positioner also includes motion control mechanism, the motion control mechanism is described including being arranged on Arm upwards motion 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 the controller that is communicated with the upper trigger mechanism and the lower trigger mechanism；The controller with it is described Mobile ranging localization mechanism, fixed ranging localization mechanism and angular transducer detent mechanism communication, the controller control The drive device 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 electromagnet, the section bar clamping mechanism is fixed to slide Mechanism, upset clamping mechanism or lifting clamping mechanism；

The clamping mechanism that slides includes the tooth plate being slidably connected with the upset electromagnet and for driving the tooth The tooth plate drive mechanism that plate is slided, 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 electromagnet and for driving the tooth plate to turn over The tooth plate drive mechanism for turning, is provided with along section bar orientation the fixing breach being adapted with section bar on the tooth plate；

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

The power line and signal that the utility model will overturn electromagnet in the form of the outlet of center are newly derived, and are improve The efficiency of stacking machine electromagnet turnover, using arm hanging type structure stacking machine, stacking speed is fast, while used again guiding tooth plate and Arm detector for movable position, it is ensured that stacking it is accurate, improve stacking efficiency and stacking quality.

Brief description of the drawings

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

Fig. 2 is a kind of preferred compositions mode of the compensation device with drive device of the utility model high speed piling system；

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 drive device；

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 electromagnet apparatus；

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 electromagnet；Or the connection knot of connecting cross beam and upset electromagnet Structure, the attachment structure is to be arranged on two pieces of connecting plates of the upset electromagnet both sides, be arranged on upset electromagnet side One piece of connecting plate or other attachment structures.

Embodiment 1

The present embodiment high speed piling system, including frame 1, arm 2, drive device, wrist 7 and upset electromagnet 6；Institute Stating frame 1 includes horizontal segment 101 and vertical section 102, and the rear end of horizontal segment 101 and the top of the vertical section 102 of the frame 1 connect Connect, front end and the upper end of arm 2 of the horizontal segment 101 of the frame 1 are hinged by the first jointed shaft 201；

The drive device is hinged with the front side of vertical section 102 of the frame 1 and the arm 2 respectively；Under the arm 2 End connection wrist 7, the wrist 7 is provided with wrist attitude-adjusting system, and the rotatable connection of the wrist 7 has upset electromagnet 6；Institute State upset electromagnetism 6 iron bottom and slidably connect guided in translation tooth plate；The vertical section 102 of the frame 1 is provided with for accurate fixed The accurate-location device of the position position of arm 2；

The side wall of the wrist 7 is additionally provided with outlet box, and the upset electromagnet 6 is provided with through hole with outlet box side by inside Hollow rotary shaft connection；

The hollow rotary shaft is connected with upset electromagnet 6 junction by fixed form, the fixed form bag Bolt connection and welding are included, the hollow rotary shaft is connected with the wrist 7 using bearing rotary, the upset electromagnet 6 Power line and signal line group into wire harness guided in the outlet box by the through hole；

The wrist pose adjustment structure includes a transition link set with the arm parallel rotating, the translation Small end is hinged with the one end of top links 205, and the other end of the top links 205 is with first jointed shaft 201 by shaking Bar is hinged, and the rocking bar is also hinged with driver, and the transition link lower end is hinged with bottom linkage rod 207, the bottom linkage rod 207 are hinged with the wrist 7, the top links 205, the bottom linkage rod 207 and translation link coplanar；When the wrist 7 When needing adjustment, rocking bar described in the driver drives, the rocking bar drives the top links 205 to rise or decline, institute Wrist 7 is stated to be adjusted in the case where the bar linkage structure that the top links 205, the bottom linkage rod 207 and transition link are constituted drives It is whole；

The guided in translation toothed plate device includes sliding block, is oriented to tooth plate 608, the swing rod being arranged on sliding block and drives sliding block Mobile driver 607, a part of bottom with the upset electromagnet 6 of the sliding block is slidably connected, and another part stretches out institute State the upset bottom of electromagnet 6 to be hinged with one end of the swing rod, the guiding tooth plate 608 is connected to the sliding block with the upset The lower end of the side attachment portion of electromagnet 6；The driver 607 is hinged with the swing rod.

The connecting plate that the wrist 7 includes and arm is connected, and it is connected to two side plates being oppositely arranged on connecting plate；Institute Upset electromagnet is stated to be arranged between two side plates；The drive mechanism for driving upset electromagnet turnover is provided with the wrist.

When high speed piling machine system starts, arm 2 swings described in the driver drives, and the arm 2 drives The wrist 7 swings, and the wrist 7 drives the upset electromagnet 6 to rotate, and the electromagnet 6 that overturns is by power line and signal Line is drawn by hollow rotary shaft, does not influence it to be overturn, and the wrist attitude-adjusting system is held turned over electromagnet 6 and exists Draw and keep horizontality when discharging shaped steel, make the upset electromagnet 6 accurately by shaped steel stacking, the upset electromagnet 6 bottom is provided with guided in translation tooth plate, upset electromagnet 6 is fixed shaped steel in code, the guided in translation in radix-minus-one complement Tooth plate shift position, the shaped steel for making it not interfere with code.

The present embodiment simple structure, it is easy to operate, make stacking machine at a high speed and shaped steel is accurately carried out into stacking, improve stacking Efficiency.

Embodiment 2

Positioner described in the present embodiment is mobile ranging localization mechanism；The mobile ranging localization mechanism includes and arm It is hinged range measurement mechanism, the level-ling mechanism for keeping the measuring mechanism level and the correspondence range measurement machine The location-plate that structure range of movement is set；The height of the location-plate 215 not less than the arm bottom motion peak with most The difference of the height of low spot；When the arm bottom moves to peak, the range measurement mechanism correspondence location-plate 215 Top, when the arm bottom moves to minimum point, the bottom of the range measurement mechanism correspondence location-plate 215；

Or, the location-plate includes the upper fixed of rear 1/2 setting of correspondence range measurement mechanism range of upward movement The rear 1/2 lower location-plate for setting of position plate and correspondence range measurement mechanism downward range of motion；When arm bottom fortune When moving peak, the range measurement mechanism correspondence upper location-plate, when the arm bottom moves to minimum point, institute State the range measurement mechanism correspondence lower location-plate；The range measurement mechanism is arranged on the screening including shading protecting box 213 Laser ranging mechanism 214 in light protecting box 213.

The present embodiment is accurately positioned by being measured with the distance between the location-plate with arm range measurement mechanism The position of the arm, simple structure is easy to operate.

Embodiment 3

Electromagnet is overturn described in the present embodiment and is provided with Magnetic Control system, the Magnetic Control system is included for detecting The sensor of electromagnet position and the control device of control electromagnet magnetic force size；Wherein, the control device is according to receiving The positional information output control information of upset electromagnet that detects of sensor adjusting the magnetic force size of upset electromagnet；

The positional information output control letter of the upset electromagnet that the control device is detected according to the sensor for receiving Cease and be in the method for the magnetic force size for adjusting upset electromagnet：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 phases, 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 Number it is transmitted to the control device, 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 needed for maintain 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 stabilization；

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

The Control system architecture of the present embodiment is simple, and operation is easy, 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 include inverted L shape support 1, arm 2nd, drive device, wrist 7 and upset electromagnet 6；The support 1 includes horizontal segment 101 and vertical section 102, the horizontal segment 101 One 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 drive device is arranged between the support 1 and arm 2 and is hinged with arm 2, and the arm 2 cuts with scissors with the wrist 7 Connect, the rotatable connection of the front end of the wrist 7 has upset electromagnet 6；

The Palletizer also includes the compensation device of the kinematic accuracy of the drive device 3 for compensating the arm 2, uses Pre-tightening apparatus in all or part of deadweight of balance arm 2 and load, the positioning dress for being accurately positioned the position of the arm 2 Put.

Rotary shaft and drive rotation that the drive device is 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 drive device is hinged by the compensation device with the frame；

As shown in figure 4, the compensation device include the compensation mount 401 that is hinged with the frame and with the compensation bottom The compensation drive mechanism 402 that seat 401 is hinged away from the frame side；The drive device and the middle part of the compensation mount 401 It is hinged；The kinematic accuracy of the compensation drive device is higher than the drive device；

As shown in figure 5, the pre-tightening apparatus include the balanced controls that two ends are hinged with the frame and the arm respectively 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 action process 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 operation.

The connecting plate that the wrist 7 includes and arm 2 is connected, and it is connected to two side plates being oppositely arranged on connecting plate； The upset electromagnet 6 is arranged between two side plates；The driving machine for driving upset electromagnet turnover is provided with the wrist Structure；The connecting plate is affixed with the arm 2；Or, the connecting plate is provided with the pose adjustment machine being hinged with the arm 2 Structure or level-ling mechanism；

The attitude-adjusting system includes a transition link being be arranged in parallel with the arm and first jointed shaft The rocking bar of 201 rotatable connections and the gesture drive mechanism of 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 being be arranged 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 electromagnet 6 includes rotating hydraulic cylinder or reducing motor, The output shaft of the 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 Few a travelling gear and telescoping mechanism 702；Described telescoping mechanism one end is hinged with wrist, and one end is hinged with swing rod, 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 swing rod 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 set；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 Hair mechanism and the controller communicated 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 drive device 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；

Section bar clamping mechanism is provided with the electromagnet, the section bar clamping mechanism is slip clamping mechanism；The cunning Dynamic clamping mechanism includes the tooth plate being slidably connected with the electromagnet and the tooth plate driving machine for driving the tooth plate to slide Structure, the fixing breach that section bar is adapted is provided with the tooth plate 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 drive device 3 is in arm 2 Plumbness, the magnetic pole of upset electromagnet 6 is downward.

During positive code steel, the arm drive device 3 drives 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 It is suitable to the position that electromagnet 6 draws angle steel, 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 drive device 3 drives 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 form two parallel four-bar linkages, and the original state of wrist 7 is horizontality, therefore, in whole service process In, wrist 7 remains level.

Then carry out reverse code steel, need first stacking section bar by packet lifting platform be promoted to it is higher connect steel position, then drive Motivation structure 302 is acted, and drives arm forward swing to steel position is connect by connecting lever 303, axle 305, rocking bar 303 and connecting rod 301, then electricity 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 angle steel upwards.Because angle steel is in code, in " ︿ ︿ ︿ " shape, during angle steel radix-minus-one complement, previous code is superimposed upon good Angle steel on, in " ︿ ﹀ ︿ ﹀ ︿ " shape, 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 Upper to produce rollover, so guiding tooth plate 608 must be set on electromagnet, the angle steel to 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 of 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 of angle steel and tooth plate 608 Straight portion alignment.Then packet lifting platform is moved downward, and 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 drive device 302 is 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 stacking 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 is changed into tension from original compression, it is to avoid depression bar occur Unstable phenomenon；After the forward swing of swing arm 2 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 the action process 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 influences.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 drive device 302 in motion, drives arm 2 quickly to move, arm 2 During by 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 compensation device drives arm 2 to transport Dynamic, the kinematic accuracy of compensation device is high, arm is accurately stopped at precalculated position, the process put after arm 2 with The process of forward swing is similar.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 small, then drives arm to move by high-precision compensation device, Arm can be made accurately to stop at precalculated position.

Embodiment 6

Drive device is 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 with the arm and frame respectively.

In the present embodiment, arm is connected with the anti-rotation of the first jointed shaft 201, arm is then 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 can also 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 include be hinged with arm or crossbeam bottom location-plate 215, 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 set；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 range measurement mechanism correspondence location-plate 215.Said structure also can be by measuring arm lower end The position of arm is accurately positioned with the distance of a certain fixing point.

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 using angle Sensor positioning mechanism, as shown in figure 12, the angular transducer detent mechanism includes passing through 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 the 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 and expanded the scope of the measuring section of angular transducer 212 by speedup, strengthen the resolution of angular transducer 212 indirectly with this 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 The utility model proposes measurement apparatus, 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 fixing breach of tooth plate is arranged under electromagnet Side, at this moment, can fix to section bar, and when that need not fix section bar, tooth plate drive mechanism drives tooth plate to be flipped up, and turns over The top of electromagnet lower edge is gone to, so, absorption of the electromagnet to shaped steel is not influenceed.

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 drive device drives the tooth plate to decline, the fixing breach of tooth plate is spilt electromagnet Lower edge, 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 electromagnet lower edge, does not influence absorption of the electromagnet to section bar thus.

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, 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 (6)

1. a kind of high speed piling system with precise positioning, it is characterised in that：Including frame, arm, drive device, wrist and Upset electromagnet；

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 by the first jointed shaft；

The drive device is hinged with frame vertical section front side and the arm respectively；The arm lower end connects wrist, The wrist is provided with wrist attitude-adjusting system, and the wrist rotatable connection has upset electromagnet；The upset electromagnet bottom End slidably connects guided in translation tooth plate；The positioning that the frame vertical section is provided with for being accurately positioned the boom position is filled Put；

The positioner is mobile ranging localization mechanism；The mobile ranging localization mechanism includes being surveyed with the distance that arm is hinged Measuring mechanism, the level-ling mechanism for keeping the measuring mechanism level and the correspondence range measurement mechanism kinematic scope The location-plate of setting；The height of the location-plate not less than peak and the minimum point of arm bottom motion height it Difference；When the arm bottom moves to peak, the top of the range measurement mechanism correspondence location-plate is hung when described When arm bottom moves to minimum point, the bottom of the range measurement mechanism correspondence location-plate；

Or, the location-plate includes rear 1/2 upper location-plate for setting of correspondence range measurement mechanism range of upward movement With the rear 1/2 lower location-plate for setting of correspondence range measurement mechanism downward range of motion；When the arm bottom moves to During peak, the range measurement mechanism correspondence upper location-plate, when the arm bottom moves to minimum point, it is described away from From the measuring mechanism correspondence lower location-plate；

Wrist side wall is additionally provided with outlet box, and the upset electromagnet is provided with the sky of through hole with outlet box side by inside Heart rotary shaft is connected；

The hollow rotary shaft is connected with the upset electromagnet junction by fixed form, and the fixed form includes bolt Connection and weld, the hollow rotary shaft be connected with the wrist using bearing rotary, the power line of the upset electromagnet with Signal line group into wire harness guided in the outlet box by the through hole.

2. as claimed in claim 1 a kind of high speed piling system with precise positioning, it is characterised in that：The wrist pose adjustment Structure includes a transition link set with the arm parallel rotating, and the transition link upper end is cut with scissors with top links one end Connect, the top links other end is hinged with first jointed shaft by rocking bar, and the rocking bar is also hinged with driver, described Transition link lower end is hinged with bottom linkage rod, and the bottom linkage rod is hinged with the wrist, and the top links, the bottom connect Bar and translation link coplanar.

3. as claimed in claim 1 a kind of high speed piling system with precise positioning, it is characterised in that：The guided in translation tooth plate Device includes sliding block, is oriented to tooth plate, the swing rod being arranged on sliding block and drives the driver of sliding block movement, and the sliding block is a part of Bottom with the upset electromagnet is slidably connected, and another part stretches out one end of the upset electromagnet bottom and the swing rod It is hinged, the truss plate connection that is oriented to is in the sliding block and the lower end for overturning electromagnet side attachment portion；The driver It is hinged with the swing rod.

4. as claimed in claim 1 a kind of high speed piling system with precise positioning, it is characterised in that：The wrist includes connection Plate, and it is connected to two side plates being oppositely arranged on connecting plate；Two side plate rotatable connection upset electromagnet；The wrist It is upper that the drive mechanism for driving upset electromagnet turnover is set.

5. as claimed in claim 1 a kind of high speed piling system with precise positioning, it is characterised in that：On the upset electromagnet Magnetic Control system is provided with, the Magnetic Control system includes the sensor and control electromagnet for detecting electromagnet position The control device of magnetic force size；Wherein, the position of the upset electromagnet that the control device is detected according to the sensor for receiving Confidence ceases output control information to adjust the magnetic force size of upset electromagnet.

6. a kind of high speed piling system, it is characterised in that：Including Palletizer, the Palletizer includes inverted L shape support, hangs Arm, drive device, wrist and upset electromagnet；The support include horizontal segment and vertical section, described horizontal segment one end with it is described Vertical section top is connected, and the arm is hinged with the horizontal segment other end by the first jointed shaft, and the drive device is set It is hinged with arm between the support and arm, the arm is connected with the wrist, rotatable connection is turned on the wrist Turn electromagnet；

The Palletizer also include for compensate the arm drive device kinematic accuracy compensation device, 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.