CN206232137U - High speed piling system with pretension - Google Patents

Abstract

The utility model discloses a kind of high speed piling system with pretension, including frame, arm, drive device, wrist and upset permanent magnet；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 retractor device is hinged with frame vertical section front side and the arm respectively；The arm lower end is connected with wrist, and the wrist is provided with wrist level maintaining body, and the wrist front end is provided with upset permanent magnet；The upset permanent magnet bottom is provided with guided in translation tooth plate；The frame vertical section is provided with for balancing the deadweight of boom portion or whole and the pre-tightening apparatus of load, 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 pretension

Technical field

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

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 high speed piling system.

To reach above-mentioned purpose, the utility model high speed piling system, including frame, arm, drive device, wrist and turn over Turn permanent magnet；

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 is connected with Wrist, the wrist is provided with wrist level maintaining body, and the wrist front end is provided with upset permanent magnet；The upset permanent magnetism Iron bottom is provided with guided in translation tooth plate；The frame vertical section is provided with deadweight and load for balancing boom portion or whole The pre-tightening apparatus of lotus.

Preferably, the wrist includes connecting plate, and it is connected to two side plates being oppositely arranged on connecting plate；The upset Permanent magnet is arranged between two side plates；The drive mechanism for driving upset permanent magnet upset is provided with the wrist.

Preferably, the upset permanent magnet includes permanent magnetic lifter and the second driver；Second driver is by connecting Spindle is rotatably connected with the permanent magnetic lifter；

The permanent magnetic lifter includes that the permanent magnet being connected with the wrist installs housing, the fixation being fixed in housing forever Magnet, the rotary permanent-magnet iron being arranged in housing and the rotary shaft for being arranged on rotary permanent-magnet iron two ends, the fixing permanent magnet It is be arranged in parallel with the rotary permanent-magnet iron, the rotary magnet is connected with the permanent magnet mounting shell by the rotary shaft, institute State rotary shaft one end and be connected with magnet drive.

Preferably, the guided in translation toothed plate device includes sliding block, is oriented to tooth plate, the rocking bar being arranged on sliding block and driving First driver of sliding block movement, a part of bottom with the upset permanent magnet of the sliding block is slidably connected, and another part is stretched Go out the upset permanent magnet bottom to be hinged with one end of the rocking bar, the guiding truss plate connection is in the sliding block and the upset The lower end of permanent magnet side attachment portion；First driver is hinged with the rocking bar.

Preferably, the wrist level maintaining body includes a transition link set with the arm parallel rotating, The upper end of the transition link is hinged with the frame by top links, the lower end of the transition link by bottom linkage rod with The wrist is hinged, the top links, the bottom linkage rod and translation link coplanar.

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 balanced controls include spring, and the balance adjustment mechanism includes connecting with machine frame for adjusting spring Connect the position adjusting mechanism of position.

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 permanent magnet；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 permanent magnet；

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 and driving that drive link, rocking bar be rotatably connected with frame The drive mechanism that rotary shaft is rotated, the rocking bar is connected with the rotary shaft anti-rotation, described drive link one end and the rocking bar It is hinged, 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；Institute Drive device is stated to be hinged with compensation mount middle part；The kinematic accuracy of the compensation drive device is higher than the drive device；

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 connection position The position adjusting mechanism put.

Preferably, the wrist includes being arranged on the connecting plate of arm bottom, and it is connected to what is be oppositely arranged on connecting plate Two side plates；The upset permanent magnet is arranged between two side plates；Driving upset permanent magnet upset is provided with the wrist Drive mechanism；The connecting plate is affixed with the arm；Or, the connecting plate is provided with the attitude being hinged with the arm Adjustment mechanism 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 rotatable connection and the gesture drive mechanism of the driving 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 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 permanent magnet upset 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 Gyration, 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 The peak and the difference of the height of minimum point moved not less than the arm bottom；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 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 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 permanent magnet, 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 permanent magnet 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 permanent magnet 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 permanent magnet 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 utility model ensure that when stacking machine works accident will not occur because of power failure using permanent magnet, using arm hanging type Stacking structure, accelerates stacking speed, accurate when improve stacking machine stacking while using pre-tightening apparatus, improves stacking The efficiency and stacking quality of machine.

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 permanent magnet device；

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

Embodiment 1

The high speed piling system of the present embodiment, including frame 1, arm 2, drive device, wrist 7 and upset permanent magnet 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；

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 is connected with wrist 7, and the wrist 7 is provided with wrist level maintaining body, and the front end of the wrist 7 is provided with upset permanent magnet 6； Upset permanent magnet 6 bottom is provided with guided in translation tooth plate；The vertical section 102 of the frame 1 is provided with for balancing arm 2 All or part of deadweight and the pre-tightening apparatus of load；

The wrist 7 includes being arranged on the connecting plate of the bottom of arm 2, and is connected to two sides being oppositely arranged on connecting plate Plate；The upset permanent magnet is arranged between two side plates, and the driving for driving upset permanent magnet upset is provided with the wrist Mechanism；

The upset permanent magnet 6 includes permanent magnetic lifter and the second driver；Second driver by connecting shaft with The permanent magnetic lifter rotatable connection；

The permanent magnetic lifter includes that the permanent magnet being connected with the wrist 7 installs housing, the fixation being fixed in housing Permanent magnet, the rotary permanent-magnet iron being arranged in housing and the rotary shaft for being arranged on rotary permanent-magnet iron two ends, the fixed permanent magnetism Iron is be arranged in parallel with the rotary permanent-magnet iron, and the rotary magnet is connected with the permanent magnet mounting shell by the rotary shaft, Described rotary shaft one end is connected with magnet drive；

As shown in Figure 10, the guided in translation toothed plate device includes sliding block, is oriented to tooth plate 608, is arranged on shaking on sliding block Bar and the first driver 607 of driving sliding block movement, a part of bottom with the upset permanent magnet of the sliding block are slidably connected, Another part stretches out the upset permanent magnet bottom and is hinged with one end of the rocking bar, and the guiding tooth plate 608 is connected to described Sliding block and the lower end for overturning permanent magnet side attachment portion；First driver 607 is hinged with the rocking bar；

The wrist level maintaining body includes a transition link 206 set with the parallel rotating of the arm 2, described The upper end of transition link 206 is hinged with the frame 1 by top links 205, and the lower end of the transition link 206 passes through bottom Connecting rod 207 is hinged with the wrist 7, and the top links 205, the bottom linkage rod 207 and transition link 206 are coplanar.

When stacking machine is started working, the drive device drives the arm 2 to swing, and the arm 2 drives described turning over Turn to draw shaped steel in the swing process of permanent magnet 6, the guided in translation tooth plate of the bottom of upset permanent magnet 6 overturns forever described During the upset stacking of magnet 6, the position of mobile guide tooth plate makes together with code stacking accurate with the shaped steel of radix-minus-one complement, the wrist 7 level-ling mechanism makes wrist holding level in swing, it is ensured that the upset permanent magnet is drawn and the release type steel capital is water It is flat to carry out, it is ensured that stacking it is accurate.

The present embodiment simple structure, operation is easy, and at a high speed and accurately stacking is carried out using the stacking function of arm hanging type, carries Stacking efficiency high.

Embodiment 2

As shown in figure 5, pre-tightening apparatus described in the present embodiment include what two ends were hinged with the frame and the arm respectively Balanced controls and the balance adjustment mechanism for adjusting 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 cylinder 501 is arranged between arm 2 and support body 1, and arm deadweight is supported in the action process of 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 passes through welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506th, the welded still pipe 508 of articulation 507 and pipe reducer 509 is connected with gas bag 510, can manual-lock or opening ball valve 506 to control the gas distribution channel between gas bag 510 and balance cylinder 501.

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；Sychronisation 3 can synchronously use the parallel connection of multigroup drive device；

Or, the balanced controls include spring, and the balance adjustment mechanism includes connecting with machine frame for adjusting spring Connect the position adjusting mechanism of position.

Embodiment 3

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 permanent magnet 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 permanent magnet 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 and institute State rocking bar 303 to be hinged, the other end of the connecting rod 301 is hinged with the arm；One of rocking bar 303 is of connecting lever Arm, 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 One 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 wrist 7 includes being arranged on the connecting plate of the bottom of arm 2, and is connected to two sides being oppositely arranged on connecting plate Plate；The upset permanent magnet 6 is arranged between two side plates；The driving for driving upset permanent magnet upset is provided with the wrist Mechanism；The connecting plate is affixed with the arm 2；Or, the connecting plate is provided with the pose adjustment being hinged with the arm 2 Mechanism 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 permanent magnet 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 4

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 permanent magnet 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 permanent magnet 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 permanent magnet 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 permanent magnet 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 permanent magnet 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 permanent magnet 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 one Tension state is directly in, connection member stress does not commutate, so as to the gap for eliminating hinged place influences.Be conducive to arm in pendulum Precision during dynamic is improved.

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 5

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 by measure arm lower end with The distance of a certain fixing point is 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 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 connecting Booster engine 210 on to 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 Speed end traffic coverage is really [0, kA].If sensor resolution is B, because sensor is connected to the speed end of booster engine 210, So the Measurement Resolution of the speed end of booster engine 210 is B, and the Measurement Resolution at the low speed end of booster engine 210 is B/k, that is, Say, 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 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 (5)

1. a kind of high speed piling system with pretension, it is characterised in that：Including frame, arm, drive device, wrist and upset forever Magnet；

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 is connected with wrist Portion, the wrist is provided with wrist level maintaining body, and the wrist is provided with upset permanent magnet；The upset permanent magnet bottom It is provided with guided in translation tooth plate；The frame vertical section is provided with the pre- of deadweight for balancing boom portion or whole and load Tight device；

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

The balanced controls include cylinder and the gas bag connected with the cylinder, and the balance adjustment mechanism includes source of the gas, is used for The source of the gas treatment element and the air gauge that is arranged on the gas bag of connection source of the gas and gas bag；

Or, the balanced controls include spring, and the balance adjustment mechanism is included for adjusting spring and machine frame connection position The position adjusting mechanism put；

The guided in translation toothed plate device includes sliding block, is oriented to tooth plate, the rocking bar being arranged on sliding block and drives sliding block movement First driver, a part of bottom with the upset permanent magnet of the sliding block is slidably connected, and another part stretches out the upset Permanent magnet bottom is hinged with one end of the rocking bar, and the guiding truss plate connection is slided in the sliding block with the upset permanent magnet The lower end of coupling part；First driver is hinged with the rocking bar.

2. as claimed in claim 1 a kind of high speed piling system with pretension, it is characterised in that：The wrist includes and arm connects The connecting plate for connecing, and it is connected to two side plates being oppositely arranged on connecting plate；It is described upset permanent magnet be arranged on two side plates it Between；The drive mechanism for driving upset permanent magnet upset is provided with the wrist.

3. as claimed in claim 1 a kind of high speed piling system with pretension, it is characterised in that：The upset permanent magnet is included forever Magnetic ground jack and the second driver；Second driver is rotatably connected by connecting shaft with the permanent magnetic lifter；

The permanent magnetic lifter includes that the permanent magnet being connected with the wrist installs housing, the fixed permanent magnetism being fixed in housing Iron, the rotary permanent-magnet iron being arranged in housing and the rotary shaft for being arranged on rotary permanent-magnet iron two ends, the fixing permanent magnet with The rotary permanent-magnet iron is be arranged in parallel, and the rotary magnet is connected with the permanent magnet mounting shell by the rotary shaft, described Rotary shaft one end is connected with magnet drive.

4. as claimed in claim 1 a kind of high speed piling system with pretension, it is characterised in that：The wrist level maintaining body Including a transition link set with the arm parallel rotating, the upper end of the transition link passes through top with the frame Rod hinge connection, the lower end of the transition link is hinged by bottom linkage rod with the wrist, and the top links, the bottom connect Bar and translation link coplanar.

5. 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 permanent magnet；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 permanent magnet；

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.