CN106144632B - High speed piling system - Google Patents
High speed piling system Download PDFInfo
- Publication number
- CN106144632B CN106144632B CN201610798597.8A CN201610798597A CN106144632B CN 106144632 B CN106144632 B CN 106144632B CN 201610798597 A CN201610798597 A CN 201610798597A CN 106144632 B CN106144632 B CN 106144632B
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- boom
- driving
- hinged
- overturning
- wrist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Shovels (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of high speed piling system, including Palletizer, the Palletizer bracket, boom, driving device, wrist and overturning magnet；The bracket is inverted L shape bracket, the bracket includes horizontal segment and vertical section, described horizontal segment one end is connect with the vertical section top, the boom is hinged by the first articulated shaft with the horizontal segment other end, the driving device setting is hinged with boom between the bracket and boom, the wrist includes the connecting shaft of rear end and the parallel bracket of front end, and the boom and the wrist are hinged, and the wrist front end rotation is connected with overturning magnet；The Palletizer further includes compensation device for compensating the kinematic accuracy of the boom driving device, the self weight for balancing boom portion or whole and the pre-tightening apparatus of load, the positioning device for being accurately positioned the boom position, the present invention can accurately high speed by fashioned iron stacking.
Description
Technical field
The present invention relates to a kind of high speed piling systems.
Background technique
Profile stacking machine is arranged in profile workshop rear portion finished product process tail end, scale profile stacking is used for, to satisfy the criteria
It requires according to certain mode pile into pile with the merchant shapes packing specification in market to delivery to customer product, to realize material
Storage, carrying, handling transport etc. logistics activities.Current profile stacking machine mostly uses greatly hand stowage mode or " running vehicle type "
Stacking mode, hand stowage mode great work intensity, required operating worker quantity is more, and cost of labor is big, and working efficiency is low, code
Pile packaging quality is poor；Row hangs mode using automatic stacking system, reduces cost of labor, but that there are speed is low, position precision is poor, work
The disadvantages of skill rhythm is slow and anti-interference ability is weak poor with all fronts profile continuous rolling process production capacity matching.
Summary of the invention
In view of the above-mentioned problems, the present invention provides, a kind of stacking speed is fast, high speed piling system with high accuracy.
In order to achieve the above objectives, a kind of high speed piling system of the present invention, including Palletizer, the Palletizer include falling
L-type support, boom, driving device, wrist and overturning magnet；The bracket includes horizontal segment and vertical section, the horizontal segment one
End is connect with the vertical section top, the boom and the horizontal segment other end hinged, driving by the first articulated shaft
Device setting is hinged with boom between the bracket and boom, and the wrist includes the connecting shaft branch parallel with front end of rear end
Frame, the boom and the wrist are hinged, and the wrist front end rotation is connected with overturning magnet；
The Palletizer further includes compensation device for compensating the kinematic accuracy of the boom driving device, for putting down
Self weight and the pre-tightening apparatus of load, the positioning device for being accurately positioned the boom position for boom portion or the whole of weighing.
Preferably, the driving device includes drive link, rocking bar, rotary shaft and driving rotation with rack rotation connection
The driving mechanism of shaft rotation, the rocking bar are connect with the rotary shaft anti-rotation, and described drive link one end and the rocking bar are cut with scissors
It connects, the other end and the boom are hinged；
Alternatively, the boom is connect with the first articulated shaft anti-rotation, the driving device includes stretching structure, described to stretch
The both ends of shrinking structure are hinged with the boom and rack respectively.
Preferably, the driving device is hinged by the compensation device and the rack；The compensation device include with
The hinged compensation mount of the rack and the compensation driving mechanism hinged far from the rack side with the compensation mount；Institute
It states hinged in the middle part of driving device and the compensation mount；The kinematic accuracy of the compensation driving device is higher than the driving device；
Alternatively, the compensation device includes the compensation mount connecting with the housing slide and the driving compensation mount
The compensation driving mechanism of sliding, the driving device are connect with the compensation mount.
Preferably, the pre-tightening apparatus include both ends respectively the balance mechanism hinged with the rack and the boom and
For adjusting the balance adjustment mechanism of the equilibrant force of the balance mechanism；
The balance mechanism includes cylinder and the gas bag that is connected to the cylinder, the balance adjustment mechanism include gas source,
Air gauge for being connected to the gas source processing element of gas source and gas bag and being arranged on the gas bag；
Alternatively,
The pre-tightening apparatus includes both ends respectively with the rack and the hinged balance mechanism of the boom and for adjusting
Save the balance adjustment mechanism of the equilibrant force of the balance mechanism；
The balance mechanism includes spring, and the balance adjustment mechanism includes for adjustment spring and machine rack link position
Position adjusting mechanism.
Preferably, the wrist includes connecting plate and is connected to two side plates being oppositely arranged on connecting plate；The overturning
Electromagnet is arranged between two side plates；The driving mechanism of driving overturning magnet overturning is provided on the wrist；The connection
Plate and the boom are affixed；Alternatively, the connecting plate is equipped with the attitude-adjusting system hinged with the boom or horizontal holding
Mechanism；
The attitude-adjusting system includes one and boom transition link disposed in parallel and first articulated shaft
It rotates the rocking bar of connection and drives the gesture drive mechanism of the transition link or the rocking bar, the upper end of the transition link
Hinged by the second articulated shaft with the rocking bar, the lower end of the transition link is hinged by third articulated shaft with the wrist,
The axis co-planar of the second articulated shaft of axis of first and third articulated shaft；
The level-ling mechanism include one with boom transition link disposed in parallel, the transition link it is upper
End is hinged by the second articulated shaft with the rack, and the lower end of the transition link is cut with scissors by third articulated shaft and the wrist
It connects, the axis of first and third articulated shaft and the second articulated shaft axis co-planar.
Preferably, the driving mechanism of driving overturning magnet overturning includes rotating hydraulic cylinder or decelerating motor, described time
The output shaft for turning hydraulic cylinder or decelerating motor is connect with the electromagnet；
Alternatively, the driving mechanism further includes the driving of wrist booster engine；The wrist booster engine includes being arranged on wrist
Driving gear, the driven gear that is arranged on electromagnet and for by the motion transmission of driving gear to driven gear extremely
A few transmission 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 transmission ratio of the driven gear and driving gear is m/n, wherein m is the rotation of electromagnet
Angle, n are the angle that electromagnet telescoping drive mechanism drives swing rod rotation, and the stretching structure can be hydraulic cylinder.
Preferably, the positioning device is that mobile ranging localization mechanism, fixed ranging localization mechanism or angular transducer are fixed
Position mechanism；
The mobile ranging localization mechanism includes with the hinged range measurement mechanism of boom, for keeping the measuring mechanism water
The positioning plate of flat level-ling mechanism and the corresponding range measurement mechanism kinematic range setting；The height of the positioning plate
Not less than the difference of the height of the highest point and the lowest point of boom bottom end movement；When the boom bottom end moves to highest point
When, the range measurement mechanism corresponds to the top of the positioning plate, when the boom bottom end moves to minimum point, the distance
Measuring mechanism corresponds to the lower part of the positioning plate；Alternatively, the positioning plate includes that the corresponding range measurement mechanism moves upwards
It is lower fixed that the upper positioning plate of rear 1/2 setting of range and rear the 1/2 of corresponding range measurement mechanism downward range of motion are arranged
Position plate；When the boom bottom end moves to highest point, the range measurement mechanism corresponds to the upper positioning plate, when the boom
When bottom end moves to minimum point, the range measurement mechanism corresponds to the lower positioning plate；
The fixed ranging localization mechanism includes the positioning plate hinged with boom or crossbeam bottom, for keeping the positioning
The vertical vertical holding mechanism of plate and the range measurement mechanism of the corresponding positioning plate setting；The height of the positioning plate is not small
In the difference of the highest point and the lowest point height of boom bottom end movement；It is described when the boom bottom end moves to highest point
Range measurement mechanism corresponds to the lower part of the positioning plate, when the boom bottom end moves to minimum point, the range measurement machine
Structure corresponds to the top of the positioning plate；Alternatively, the upper measuring mechanism of rear 1/2 setting of the corresponding positioning plate range of upward movement
With the correspondence positioning plate downward range of motion it is rear 1/2 setting lower range measurement mechanism, when the boom bottom end moves to
When highest point, the positioning plate corresponds to the upper measuring mechanism, when the boom bottom end moves to minimum point, the positioning plate
The corresponding lower measuring mechanism；
The angular transducer positioning mechanism include by the angular transducer of booster engine and the first hinged axis connection, it is described
First articulated shaft is connect with the low speed end of the booster engine, and the angular transducer is connect with the speed end of the booster engine, institute
It states boom to connect with the first articulated shaft anti-rotation, the product of the speed increasing ratio of the angular range and booster engine of the boom movement is not
Greater than the range of the angular transducer.
Preferably, the positioning device further includes motion control mechanism, the motion control mechanism includes being arranged described
Boom move upwards rear 1/2 in the range of upper trigger mechanism, be arranged in the range of the boom moves downward rear 1/2
Lower trigger mechanism and controller with the upper trigger mechanism and lower trigger mechanism communication；The controller with it is described
Mobile ranging localization mechanism, fixed ranging localization mechanism and angular transducer positioning mechanism communication, the controller control
The driving device and the compensation device；The upper trigger mechanism and the lower trigger mechanism are close to switch.
Preferably, being provided with profile clamping mechanism on the overturning magnet, the profile clamping mechanism is sliding fixing machine
Structure, overturning clamping mechanism or lifting clamping mechanism；
The sliding clamping mechanism includes with the tooth plate that is slidably connected of overturning magnet and for driving the tooth plate
The tooth plate driving mechanism of sliding is provided with the compatible fixing notch of profile along profile orientation on the tooth plate；
The overturning clamping mechanism includes with the hinged tooth plate of overturning magnet and for driving the tooth plate to overturn
Tooth plate driving mechanism, profile orientation is provided with fixing notch compatible with profile on the tooth plate；
The lifting clamping mechanism includes the tooth plate and the driving electricity being slidably connected with the side of the overturning magnet
The tooth plate driving mechanism of magnet lifting；It is provided with profile along profile orientation to the fixing notch being adapted on the tooth plate.
Preferably, the overturning magnet is equipped with magnetic force control system, the magnetic force control system includes for detecting electricity
The sensor of magnet positions and the control device of control electromagnet magnetic force size；Wherein, the control device is according to receiving
The location information output control information for the overturning electromagnet that sensor detects is to adjust the magnetic force size for overturning electromagnet.
Preferably, the location information for the overturning electromagnet that the control device is detected according to the sensor received exports
Method of the control information to adjust the magnetic force size of overturning electromagnet are as follows: when detecting the overturning electromagnet turnover to the first phase
When position, control device control electromagnet magnetic force is located at first interval；When detecting the overturning electromagnet turnover to other phases
When, control device control electromagnet magnetic force is located at second interval.
The present invention can be improved the kinematic accuracy of boom, and the position of measurement boom is accurately positioned using positioning device, high-precision
The measuring device of degree and high-precision driving mechanism can control boom and be moved and stopped with high precision；Preload is utilized simultaneously
Mechanism carry boom self weight or load, in such manner, it is possible to make boom be in close to balance state, when driving device to boom into
When row driving, boom can be made to respond rapidly to, simultaneously as the weight of boom is carried by pre-tightening apparatus, driving device driving is hung
When arm, the movement velocity of boom can be made to accelerate, the response speed and movement velocity of boom are all accelerated to mean that the work of manipulator
Making efficiency can greatly improve.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of high speed piling mechanical system of the present invention；
Fig. 2 is the compensation device of high speed piling mechanical system of the present invention and a kind of preferred combination of driving device；
Fig. 3 is the schematic diagram of the wrist level holding mechanism of high speed piling system of the present invention；
Fig. 4 is a kind of preferred combination of high speed piling system balance device of the present invention and driving device；
Fig. 5 is a kind of preferred embodiment of high speed piling system pre-tightening apparatus of the present invention；
Fig. 6 is a kind of preferred structure of driving overturning magnet arrangement；
Fig. 7 is the preferred structure schematic diagram of the mobile ranging localization mechanism of high speed piling system of the present invention；
Fig. 8 is the system block diagram of high speed piling system positioning device of the present invention；
Fig. 9 is the work flow diagram of high speed piling system positioning device of the present invention；
Figure 10 is the structural schematic diagram of high speed piling system translation clamping mechanism of the present invention；
Figure 11 is the structural schematic diagram of the fixed ranging localization mechanism of high speed piling system of the present invention；
Figure 12 is the structural schematic diagram of high speed piling system perspective sensor positioning mechanism of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings of the specification.
The wrist is for connecting boom and overturning magnet；Or the connection structure of connecting cross beam and overturning magnet, institute
Stating connection structure is two pieces of connecting plates that the overturning magnet two sides are arranged in, one piece of connecting plate that overturning magnet side is arranged in
Or other connection structures.
Embodiment 1
A kind of high speed piling system of the present embodiment, including Palletizer, the Palletizer include inverted L shape bracket 1, boom
2, driving device, wrist 7 and overturning magnet 6；The bracket 1 includes horizontal segment 101 and vertical section 102, the horizontal segment 101 1
End is connect with 102 top of vertical section, and the boom 2 is cut with scissors with 101 other end of horizontal segment by the first articulated shaft 201
It connects, the boom 2 and the wrist 7 hinge hinged with boom 2 is arranged between the bracket 1 and boom 2 in the driving device
It connects, 7 front end of the wrist rotation is connected with overturning magnet 6；
The Palletizer further includes compensation device, the use for the kinematic accuracy for compensating the driving device 3 of the boom 2
It is filled in the pre-tightening apparatus of all or part of self weight of balance boom 2 and load, the positioning for being accurately positioned 2 position of boom
It sets.
The driving device includes drive link 301, rocking bar 303, rotary shaft and driving rotation with rack rotation connection
The driving mechanism 302 of shaft rotation, the rocking bar 303 connect 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 and the boom of the connecting rod 301 are hinged；One of rocking bar 303 is the one arm of connecting lever,
Driving mechanism 302 is electric cylinders, hydraulic cylinder or cylinder, and the telescopic rod 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 and the rack.
The driving device is hinged by the compensation device and the rack；
As shown in figure 4, the compensation device include the compensation mount 401 hinged with the rack and with the compensation bottom
The 401 compensation driving mechanisms 402 hinged far from the rack side of seat；401 middle part of the driving device and the compensation mount
Hingedly；The kinematic accuracy of the compensation driving device is higher than the driving device；
As shown in figure 5, the pre-tightening apparatus includes the both ends balance mechanism hinged with the rack and the boom respectively
And the balance adjustment mechanism of the equilibrant force for adjusting the balance mechanism；
The balance mechanism includes cylinder 501 and the gas bag being connected to the cylinder 510, and the balance adjustment mechanism includes
Gas source 516, the gas source processing element 512 for being connected to gas source 516 and gas bag 510 and the gas being arranged on the gas bag 510
Press table 511；
The balance cylinder 501 is mounted between swing arm 2 and frame body 1, and swing arm self weight is supported in 2 action process of swing arm.
The air supply system includes gas source 516, gas bag 510, air gauge 511, gas source processing three elements 512, welded still pipe
503 and ball valve 513, the gas source 516 handles three elements by reducing joint 515, welded still pipe 514, ball valve 513 and gas source
512 are inflated compressed-air-storing to gas bag 510, manually adjustable ball valve 513 to gas bag 510, and gas bag 510 is also adjusted
On relief valve deflate.
The gas bag 510 is equipped with air gauge 511, can read 510 atmospheric pressure value of gas bag in real time；
The cylinder intake unit 502 by welded still pipe 503, pipe reducer 504, welded still pipe 505, ball valve 506,
507 welded still pipe 508 of union and pipe reducer 509 are connect with gas bag 510, can be turned off manually 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 1 side of palletizing mechanical arm frame body or more nearby, the ball valve between gas bag 510 and cylinder
506 are mounted on frame body 1 convenient for the position of operation.
The wrist 7 includes connecting plate and is connected to two side plates being oppositely arranged on connecting plate；The overturning electromagnet 6
It is arranged between two side plates；The driving mechanism that driving overturning magnet 6 is overturn is provided on the wrist 7；The connecting plate with
The boom 2 is affixed；Alternatively, the connecting plate is equipped with the attitude-adjusting system or horizontal holding machine hinged with the boom 2
Structure；
The attitude-adjusting system includes one and boom transition link disposed in parallel and first articulated shaft
The rocking bar of 201 rotation connections and the gesture drive mechanism for driving the transition link or the rocking bar, the transition link
Upper end is hinged by the second articulated shaft with the rocking bar, and the lower end of the transition link is cut with scissors with the wrist by third articulated shaft
It connects, the axis co-planar of the second articulated shaft of axis of first and third articulated shaft；
The level-ling mechanism include one with boom transition link disposed in parallel, the transition link it is upper
End is hinged by the second articulated shaft with the rack, and the lower end of the transition link is cut with scissors by third articulated shaft and the wrist
It connects, the axis of first and third articulated shaft and the second articulated shaft axis co-planar；
As shown in fig. 6, the driving mechanism that driving overturning magnet 6 is overturn includes rotating hydraulic cylinder or decelerating motor, institute
The output shaft for stating rotating hydraulic cylinder or decelerating motor is connect with the electromagnet；
Alternatively, the driving mechanism further includes the driving of wrist booster engine；The wrist booster engine includes being arranged on wrist
Driving gear, the driven gear that is arranged on electromagnet and for by the motion transmission of driving gear to driven gear extremely
A few transmission 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 and the driving gear are coaxially connected；The transmission ratio of the driven gear and driving gear is m/n, wherein m is electromagnet
Angle is rotated, n is the angle that electromagnet telescoping drive mechanism 702 drives swing rod rotation, and the stretching structure 702 can be hydraulic
Cylinder.
As Figure 7-9, the positioning device is mobile ranging localization mechanism；The mobile ranging localization mechanism include with
The hinged range measurement mechanism of boom or crossbeam bottom, level-ling mechanism and correspondence for keeping the measuring mechanism level
The positioning plate of the range measurement mechanism kinematic range setting；The height of the positioning plate 215 is transported not less than the boom bottom end
The difference of the height of dynamic the highest point and the lowest point；When the boom bottom end moves to highest point, the range measurement mechanism pair
The top for answering the positioning plate 215, when the boom bottom end moves to minimum point, it is described fixed that the range measurement mechanism corresponds to
The lower part of position plate 215；Positioning device further includes motion control mechanism, the motion control mechanism include setting the boom to
Upper trigger mechanism in the range of rear the 1/2 of upper movement, the lower touching being arranged in the range of the boom moves downward rear 1/2
Send out mechanism and the controller with the upper trigger mechanism and the lower trigger mechanism communication；The controller and the mobile survey
It is communicated away from positioning mechanism, the controller controls the driving device and the compensation device；The upper trigger mechanism and described
Lower trigger mechanism is close to switch.The range measurement mechanism includes shading protecting box 213 and is arranged in the shading protecting box
Laser ranging mechanism 214 in 213；
As shown in Figure 10, profile clamping mechanism is provided on the electromagnet, the profile clamping mechanism is that sliding fixes
Mechanism；The sliding clamping mechanism includes the tooth plate 608 being slidably connected with the electromagnet and for driving the tooth plate 608
The tooth plate driving mechanism 607 of sliding is provided with the compatible fixing notch of profile along profile orientation on the tooth plate 608.
Embodiment 2
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 shown, under this state, the boom driving device 3 is in boom 2
Plumbness, 6 magnetic poles of the overturning electromagnet are downward.
When positive code steel, the boom driving device 3 drives connecting lever 303 to rotate, other rocking bars 303 are connected by axis 305
Rotation, and then drive drive link 301 that boom 2 is pushed to swing forward, until overturning electromagnet 6 is located at fashioned iron and connects on steel position
Side, then grouping drive apparatus driving grouping hoistable platform main body moves upwards, when grouping hoistable platform main body moves upward to
The position of angle steel is drawn suitable for electromagnet 6, then electromagnet suction 6 takes angle steel, when the absorption angle steel of electromagnet, the turning of angle steel
It fixes in the fixing notch of tooth plate 608, makes angle steel that posture be kept not change, then driving device 3 drives boom 2 to roller
Road hoistable platform movement, until roller-lifting platform rises to be put when overturning electromagnet 6 is located above roller-way convenient for electromagnet 6
The position of lower angle steel, at this point, electromagnet 6 puts down angle steel.In the motion process of boom, since wrist multi link level keeps filling
It sets and forms two parallel four-bar linkages, and the original state of wrist 7 is horizontality, therefore, in whole service process
In, wrist 7 remains horizontal.
Then carry out reversed code steel, need first stacking profile by grouping lifting platform be promoted to it is higher connect steel position, then drive
Motivation structure 302 acts, and drives boom forward swing to steel position is connect by connecting lever 303, axis 305, rocking bar 303 and connecting rod 301, then electricity
Magnet retractable driving device 702 is stretched out, and driving torsion shaft 701 rotates, and is driven overturning electromagnet 6 to rotate by reduction gearbox, is made magnetic
Angle steel is drawn in the horizontal direction of pole.Since angle steel is in code, it is inWhen angle steel radix-minus-one complement, it is good to be superimposed upon previous code for shape
Angle steel on, be inShape, code, that is, angle steel is opening down, and radix-minus-one complement, that is, angle steel is opening up.When angle steel just
When code, since the closed angle end for being angle steel is single line contact, contact area very little, it is easy in electromagnet 6 with electromagnet 6 upward
Upper generation rollover is oriented to the angle steel of code so guiding tooth plate 608 must be arranged on electromagnet.But subsequent
Radix-minus-one complement during, guiding tooth plate 608 can and code angle steel interfere, it is therefore desirable to make angle steel edge and horizontal face contact,
Therefore it needs to drive tooth plate 608 to move by tooth plate driving mechanism 607 before drawing angle steel, makes the edge and tooth plate 608 of angle steel
Straight portion alignment.Then grouping lifting platform moves downward, and angle steel is drawn on electromagnet 6, and lifting platform to be grouped, which leaves, to be turned over
After turning region, electromagnet telescoping drive mechanism 702 is retracted, and overturning electromagnet 6 reversely rotates 180 °；Then driving device 302 is driven
Dynamic connecting lever 303 moves, and drives boom 2 to be rocked to reversed code steel position by axis 305, rocking bar 303 and connecting rod 301, arrives to boom
Behind position, 6 power loss of electromagnet is overturn, is fallen on stacking lifting platform under steel.
In the motion process of boom, the pressure in the gas bag 510 of the present embodiment should meet: one, balance cylinder 501 pushes away
The trimming moment that power generates is slightly larger than the maximum load moment of resistance generated of being self-possessed during swing arm motion, and two, gas bag 510 is entire
Pressure is basically unchanged during driving.Under the conditions of above-mentioned two, the effect of no drive link, swing arm will be in balance cylinder 501
Thrust lower swing to foremost position, therefore the stress of drive link becomes tension from original compression, avoids the occurrence of compression bar
Unstable phenomenon；After 2 forward swing of swing arm connects steel, the weight of steel is increased, becoming larger for loading moment is conducive to swing arm backswing, and driving connects
The pulling force of bar also reduces therewith；In 2 action process of swing arm, balance cylinder 501 is constantly in thrust rating, and driving pull rod is always
In tension state, connecting component stress does not commutate, so that eliminating the gap of hinged place influences.Be conducive to boom swinging
Precision in the process improves.
In the motion process of boom, positioned by movement latter end of the positioning device to boom, process is as follows:
During forward swing, boom 2 starts the period by 302 full-speed operation of driving device in movement, and driving boom 2 quickly moves, boom 2
When by upper trigger mechanism, into movement latter end, controller obtains 2 current location of boom by positioning device, and controls driving
Device 302 drives boom movement, and when boom is when being closely located to predetermined position, controller controls compensation device driving boom 2 and transports
Dynamic, the kinematic accuracy of compensation device is high, and boom can be made accurately to stop at predetermined position in this way, the process put after boom 2 with
The process of forward swing is similar.In this way, the initial segment of movement does not need to calculate, the operand of controller can be greatly reduced.And at end
Section, range measurement mechanism measure the position of boom, and error is very small, then drive boom movement by high-precision compensation device,
Boom can be made accurately to stop at predetermined position.
Embodiment 3
Driving device is changed to telescoping mechanism by the present embodiment, and the boom is connect with 201 anti-rotation of the first articulated shaft,
The both ends of the telescoping mechanism are hinged with the boom and rack respectively.
In the present embodiment, boom is connect with 201 anti-rotation of the first articulated shaft, boom is then driven by telescoping mechanism
2 are moved, and are connect at this time due to boom 2 with 201 anti-rotation of the first articulated shaft, boom 2 can also move.This reality
Boom 2 will be directly driven and be moved using telescoping mechanism by applying example, without transmission, can reduce the energy consumption in transmission process,
Improve energy conversion efficiency.
On the basis of the above embodiments, the mobile ranging localization mechanism can also be replaced with fixed ranging localization machine
Structure, as shown in figure 11, the fixed ranging localization mechanism includes the positioning plate 215 hinged with boom or crossbeam bottom, for protecting
Hold the range measurement mechanism that the vertical vertical holding mechanism of the positioning plate 215 and the corresponding positioning plate 215 are arranged；It is described
Range measurement mechanism includes shading protecting box 213 and the laser ranging mechanism 214 that is arranged in shading protecting box 213, described fixed
Difference of the height of position plate 215 not less than the highest point and the lowest point height of boom bottom end movement；When the boom bottom end is transported
When moving to highest point, the range measurement mechanism corresponds to the lower part of the positioning plate 215, when the boom bottom end move to it is minimum
When point, the range measurement mechanism corresponds to the top of the positioning plate 215.Above structure also can by measurement boom lower end with
The distance of a certain fixed point is accurately positioned the position of boom.
It is of course also possible to position the position of boom by the rotation angle for measuring boom, just needed at this time using angle
Sensor positioning mechanism, as shown in figure 12, the angular transducer positioning mechanism include passing through booster engine 210 and the first articulated shaft
The shell of the angular transducer 212 of connection, the angular transducer 212 is mounted on rotating base 211, the rotating base
211 connect with shell or the rotation of the first articulated shaft, are provided on the rotating base 211 rotating base 211 being locked at shell
Or the first locking device on articulated shaft, first articulated shaft are connect with the low speed end of the booster engine 210, the angle passes
Sensor 212 is connect with the speed end of the booster engine 210, and the boom is connect with the first articulated shaft anti-rotation, the boom
The product of the speed increasing ratio of the angular range and booster engine 210 of movement is not more than the range of the angular transducer 212.Above structure
First articulated shaft is connect by speeder with angular transducer 212, when the first articulated shaft rotates an angle, speedup dress
It sets and is expanded the range of the measuring section of angular transducer 212 by speedup, enhance the resolution of angular transducer 212 indirectly with this
Rate.When manipulator is swung, axis of the mechanical movement around arm end is rotated, while being connected to regard to driving
Booster engine 210 on axis is run.If swing arm traffic coverage is [0, A], after 210 speed ratio k of booster engine amplification, booster engine 210 is high
Fast end traffic coverage is really [0, kA].If sensor resolution is B, since sensor is connected to 210 speed end of booster engine, institute
Measurement Resolution with 210 speed end of booster engine is B, and the Measurement Resolution at 210 low speed end of booster engine is B/k, that is to say, that
Measuring device proposed by the present invention, the resolution ratio measured for swing arm is B/k, and precision improves k times.
On the basis of the above embodiments, also there are two types of feasible structures for the clamping mechanism of electromagnet: overturning clamping mechanism
Or lifting clamping structure.
The overturning clamping mechanism includes the tooth plate hinged with the electromagnet and for driving the tooth plate to overturn
Tooth plate driving mechanism is provided with fixing notch compatible with profile along profile orientation on the tooth plate；When needing tooth plate
When being fixed, tooth plate driving mechanism drives the tooth plate to downwardly turn over, and the fixing notch of tooth plate is arranged under electromagnet
At this moment side can fix profile, when not needing to fix profile, tooth plate driving mechanism driving tooth plate is flipped up, and turn over
The top of electromagnet lower edge is gone to, in this way, not influencing absorption of the electromagnet to fashioned iron.
The lifting clamping mechanism includes the tooth plate being slidably connected with the side of the electromagnet and the driving electromagnetism
The tooth plate driving mechanism of iron lifting；It is provided with profile along profile orientation to the fixing notch being adapted on the tooth plate.When
When tooth plate being needed to fix profile, tooth plate driving device drives the tooth plate to decline, and the fixing notch of tooth plate is made to leak out electromagnet
Lower edge, when not needing tooth plate and fixing profile, tooth plate driving 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 profile thus.
Embodiment 4
Overturning magnet described in the present embodiment is equipped with magnetic force control system, and the magnetic force control system includes for detecting electricity
The sensor of magnet positions and the control device of control electromagnet magnetic force size；Wherein, the control device is according to receiving
The location information output control information for the overturning electromagnet that sensor detects is to adjust the magnetic force size for overturning electromagnet；
The location information output control letter for the overturning electromagnet that the control device is detected according to the sensor received
Method of the breath to adjust the magnetic force size of overturning electromagnet are as follows: when detecting the overturning electromagnet turnover to first phase,
Control device control electromagnet magnetic force is located at first interval；When detecting the overturning electromagnet turnover to other phases, control
Device control electromagnet magnetic force processed is located at second interval.
When the overturning electromagnet 6 rotation, the sensor receives signal, and the sensor is by received letter
It number is transmitted to the control device, the control device receives the working condition of judgement overturning electromagnet 6 after signal, to control
The power-on voltage of electromagnet, to control the magnetic force of overturning electromagnet 6；
When overturning electromagnet 6 downwardly turns over, power needed for the balance to maintain to carry article is also bigger, and system will be certainly
It is dynamic to improve electromagnet coil voltage, to increase electromagnetic force, article is kept to stablize；
When gravity can provide frictional force, power needed for the balance to keep carrying article is small, and system will drop automatically
Low electromagnet coil voltage reduces magnet fever.
The Control system architecture of the present embodiment is simple, and operation is easy, and effectively reduces the high load capacity work of overturning electromagnet 6
Make, improves the service life of overturning electromagnet 6.
More than, only presently preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with sheet
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those skilled in the art, should all cover
Within protection scope of the present invention.Therefore, the scope of protection of the present invention shall be subject to the scope of protection defined by the claims.
Claims (7)
1. a kind of high speed piling system, it is characterised in that: including Palletizer, the Palletizer includes inverted L shape rack, hangs
Arm, driving device, wrist and overturning magnet；The rack includes horizontal segment and vertical section, and described horizontal segment one end is erected with described
The connection of straight section top, the boom is hinged by the first articulated shaft with the horizontal segment other end, and the driving device setting exists
Hinged with boom between the rack and boom, the boom is connect with the wrist, and rotation is connected with overturning on the wrist
Magnet；
The Palletizer further includes compensation device for compensating the kinematic accuracy of the boom driving device, for balance crane
The self weight of arm section or whole and the pre-tightening apparatus of load, the positioning device for being accurately positioned the boom position；
The pre-tightening apparatus includes both ends respectively with the rack and the hinged balance mechanism of the boom and for adjusting
State the balance adjustment mechanism of the equilibrant force of balance mechanism；
The balance mechanism includes cylinder and the gas bag that is connected to the cylinder, and the balance adjustment mechanism includes gas source, is used for
The air gauge for being connected to the gas source processing element of gas source and gas bag and being arranged on the gas bag；
Alternatively,
The pre-tightening apparatus includes both ends respectively with the rack and the hinged balance mechanism of the boom and for adjusting
State the balance adjustment mechanism of the equilibrant force of balance mechanism；
The balance mechanism includes spring, and the balance adjustment mechanism includes the position for adjustment spring and machine rack link position
Set regulating mechanism；
The wrist includes connecting plate, and is connected to two side plates being oppositely arranged on connecting plate；The overturning magnet setting exists
Between two side plates；The driving mechanism of driving overturning magnet overturning is provided on the wrist；The connecting plate and the boom
It is affixed；Alternatively, the connecting plate is equipped with the attitude-adjusting system or level-ling mechanism hinged with the boom；
The attitude-adjusting system includes one and rotates with boom transition link disposed in parallel, with first articulated shaft
The rocking bar of connection and the gesture drive mechanism for driving the transition link or the rocking bar, the upper end of the transition link and institute
It is hinged by the second articulated shaft to state rocking bar, the lower end of the transition link is hinged by third articulated shaft with the wrist, described
The axis co-planar of the second articulated shaft of axis of first and third articulated shaft；
The level-ling mechanism include one with boom transition link disposed in parallel, the upper end of the transition link with
The rack is hinged by the second articulated shaft, and the lower end of the transition link is hinged by third articulated shaft and the wrist, institute
State the axis and the second articulated shaft axis co-planar of the first and third articulated shaft；
The driving mechanism of driving overturning magnet overturning includes rotating hydraulic cylinder or decelerating motor, the rotating hydraulic cylinder or is subtracted
The output shaft of speed motor is connect with the overturning magnet；
Alternatively, the driving mechanism further includes the driving of wrist booster engine；The wrist booster engine includes the master being arranged on wrist
Moving gear, be arranged in overturning magnet on driven gear and for by the motion transmission of driving gear to driven gear at least
One transmission gear and telescoping mechanism；Described telescoping mechanism one end is hinged with wrist, and one end is hinged with swing rod, the swing rod and institute
It is coaxially connected to state driving gear；The transmission ratio of the driven gear and driving gear is m/n, wherein m is the rotation for overturning magnet
Angle, n are the angle for overturning the driving swing rod rotation of magnet telescoping drive mechanism, and the telescoping mechanism is hydraulic cylinder.
2. a kind of high speed piling system as described in claim 1, it is characterised in that: the driving device includes drive link, shakes
Bar, the driving mechanism with the rotary shaft of rack rotation connection and driving rotary shaft rotation, the rocking bar and the rotary shaft are revolved
Turn connection, described drive link one end and the rocking bar are hinged, and the other end and the boom are hinged；
Alternatively, the boom and first articulated shaft rotation connect, the driving device includes stretching structure, the flexible knot
The both ends of structure are hinged with the boom and rack respectively.
3. a kind of high speed piling system as described in claim 1, it is characterised in that: the driving device passes through the compensation device
It is hinged with the rack；The compensation device includes the compensation mount hinged with the rack and separate with the compensation mount
The hinged compensation driving mechanism in the rack side；It is hinged in the middle part of the driving device and the compensation mount；The compensation is driven
The kinematic accuracy of motivation structure is higher than the driving device；
Alternatively, the compensation device includes the compensation mount connecting with the housing slide and the driving compensation mount sliding
Compensation driving mechanism, the driving device connect with the compensation mount.
4. a kind of high speed piling system as described in claim 1, it is characterised in that: the positioning device is mobile ranging localization machine
Structure, fixed ranging localization mechanism or angular transducer positioning mechanism；
The mobile ranging localization mechanism includes with the hinged range measurement mechanism of boom, for keeping the measuring mechanism horizontal
Level-ling mechanism and the positioning plate of the corresponding range measurement mechanism kinematic range setting；The height of the positioning plate is not small
In the difference of the height of the highest point and the lowest point of boom bottom end movement；When the boom bottom end moves to highest point, institute
The top that range measurement mechanism corresponds to the positioning plate is stated, when the boom bottom end moves to minimum point, the range measurement
Mechanism corresponds to the lower part of the positioning plate；Alternatively, the positioning plate includes corresponding range measurement mechanism range of upward movement
Rear 1/2 setting upper positioning plate and corresponding range measurement mechanism downward range of motion rear 1/2 setting lower positioning plate；
When the boom bottom end moves to highest point, the range measurement mechanism corresponds to the upper positioning plate, when the boom bottom end
When moving to minimum point, the range measurement mechanism corresponds to the lower positioning plate；
The fixed ranging localization mechanism includes the positioning plate hinged with boom or crossbeam bottom, for keeping the positioning plate perpendicular
The range measurement mechanism of straight vertical holding mechanism and the corresponding positioning plate setting；The height of the positioning plate is not less than institute
State the difference of the highest point and the lowest point height of boom bottom end movement；When the boom bottom end moves to highest point, the distance
Measuring mechanism corresponds to the lower part of the positioning plate, when the boom bottom end moves to minimum point, the range measurement mechanism pair
Answer the top of the positioning plate；Alternatively, the upper measuring mechanism of rear 1/2 setting of the corresponding positioning plate range of upward movement and right
The lower range measurement mechanism for answering rear 1/2 setting of the positioning plate downward range of motion, when the boom bottom end moves to highest
When point, the positioning plate corresponds to the upper measuring mechanism, and when the boom bottom end moves to minimum point, the positioning plate is corresponding
The lower range measurement mechanism；
The angular transducer positioning mechanism includes by the angular transducer of booster engine and the first hinged axis connection described first
Articulated shaft is connect with the low speed end of the booster engine, and the angular transducer is connect with the speed end of the booster engine, described to hang
Arm and first articulated shaft rotation connect, and the product of the speed increasing ratio of the angular range and booster engine of the boom movement is not more than
The range of the angular transducer.
5. a kind of high speed piling system as claimed in claim 4, it is characterised in that: the positioning device further includes motion control machine
Structure, the motion control mechanism include the boom is set and is moved upwards rear 1/2 in the range of upper trigger mechanism, setting
The boom move downward rear 1/2 in the range of lower trigger mechanism and with the upper trigger mechanism and the lower triggering
The controller of mechanism communication；The controller and the mobile ranging localization mechanism, fixed ranging localization mechanism and the angle
Sensor positioning mechanism communication, the controller control the driving device and the compensation device；The upper trigger mechanism and
The lower trigger mechanism is close to switch.
6. a kind of high speed piling system as described in claim 1, it is characterised in that: be provided with profile fixing on the overturning magnet
Mechanism, the profile clamping mechanism are sliding clamping mechanism, overturning clamping mechanism or lifting clamping mechanism；
The sliding clamping mechanism includes with the tooth plate that is slidably connected of overturning magnet and for driving the tooth plate to slide
Tooth plate driving mechanism, profile orientation is provided with the compatible fixing notch of profile on the tooth plate；
The overturning clamping mechanism includes the tooth with the hinged tooth plate of the overturning magnet and for driving the tooth plate overturning
Plate driving mechanism is provided with fixing notch compatible with profile along profile orientation on the tooth plate；
The lifting clamping mechanism includes the tooth plate and the driving overturning magnetic being slidably connected with the side of the overturning magnet
The tooth plate driving mechanism of iron lifting；It is provided with profile along profile orientation to the fixing notch being adapted on the tooth plate.
7. a kind of high speed piling system as described in claim 1, it is characterised in that: the overturning magnet is equipped with magnetic force control system
System, the magnetic force control system include the control of the sensor and control overturning magnet magnetic force size for detecting overturning magnet positions
Device processed；Wherein, the location information output control for the overturning magnet that the control device is detected according to the sensor received
Information overturns the magnetic force size of magnet to adjust.
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|---|---|---|---|
| CN201610798597.8A CN106144632B (en) | 2016-08-31 | 2016-08-31 | High speed piling system |
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| CN201610798597.8A CN106144632B (en) | 2016-08-31 | 2016-08-31 | High speed piling system |
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| CN106144632B true CN106144632B (en) | 2019-04-16 |
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| CN201565961U (en) * | 2009-11-03 | 2010-09-01 | 北京建筑工程学院 | Short filamentous material packaging manipulator material hand driving pneumatic circuit and packaging machine |
| CN101817452A (en) * | 2010-04-02 | 2010-09-01 | 大连佳林设备制造有限公司 | Packing and palletizing robot |
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| DE295813C (en) * | 1914-01-15 | 1916-12-20 | Siemens Ag | METHOD OF CONSTRUCTION OF TUNNELS FOR UNDERGROUND RAILWAYS OR THE LIKE. UNDER TRAFFIC ROUTES BY MEANS OF A CEILING SIGN |
| CN202542490U (en) * | 2012-03-26 | 2012-11-21 | 广东工业大学 | Transporting and stacking robot |
| CN203486498U (en) * | 2013-08-23 | 2014-03-19 | 安阳钢铁股份有限公司 | Profile rotation type automatic palletizing device |
| CN206068946U (en) * | 2016-08-31 | 2017-04-05 | 中冶华天工程技术有限公司 | High speed piling system |
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