CN110077987B - Flexible lifting system - Google Patents
Flexible lifting system Download PDFInfo
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- CN110077987B CN110077987B CN201910458274.8A CN201910458274A CN110077987B CN 110077987 B CN110077987 B CN 110077987B CN 201910458274 A CN201910458274 A CN 201910458274A CN 110077987 B CN110077987 B CN 110077987B
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- 238000005303 weighing Methods 0.000 claims abstract description 21
- 239000000463 material Substances 0.000 claims description 71
- 230000005540 biological transmission Effects 0.000 claims description 67
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 6
- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000011897 real-time detection Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0616—Suspended platforms, i.e. the load platform hangs from the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application discloses a flexible lifting system, and aims to solve the problems that an existing Z-direction telescopic mechanical arm has high requirements on an installation site and has certain limitation. The stacker crane comprises at least two conveying units, a supporting base, driving units and a control system, wherein the upper ends of the driving units are connected with the supporting base, and the lower ends of the driving units are connected with a stacker crane head. Based on the improvement of the structure, the application has low installation requirement on the field and better adaptability. Meanwhile, the driving units are arranged in a crossing way, and the stable operation of the stacker head can be effectively ensured by combining the parallelogram-structured conveying units; and based on feedback of the weighing sensor and cooperation of the driving unit, real-time detection and compensation of lifting speed and position can be realized, the aim of synchronous lifting is achieved, and stable operation of the stacker head is ensured. The device has the advantages of simple structure, ingenious conception, reasonable design and maintenance-free operation in the later period.
Description
Technical Field
The application relates to the field of machinery, in particular to the field of material automatic loading, and particularly relates to a flexible lifting system. The application is suitable for occasions where the material stacker head needs to be lifted in the automatic material loading process, and has higher application value.
Background
Chinese patent application CN201721208012.9 discloses a stably driven Z-direction telescopic mechanical arm for a robot, which comprises a telescopic rod support, a catheter assembly penetrating through the telescopic rod support in a Z-direction sliding manner, a rotary connecting seat installed at the tail end of the catheter assembly, and a pneumatic assembly and an electric assembly respectively installed on the telescopic rod support; the pneumatic assembly and the electric assembly jointly transmit to the catheter assembly to drive the rotary connecting seat to move in a Z direction relative to the telescopic rod support. In the scheme, the pneumatic driving device in the pneumatic assembly and the electric driving device in the electric assembly jointly transmit to the guide pipe, the guide pipe drives the actuating mechanism arranged at the tail end of the mechanical arm to carry out telescopic adjustment through the rotary connecting seat, meanwhile, the characteristics of large and stable load of the pneumatic driving device and accurate control of the electric driving device are utilized, the pneumatic driving device and the electric driving device jointly work to reduce the electric power of the electric driving device, and the accurate regulation and control of the telescopic action of the rotary connecting seat are achieved through the electric driving device.
However, this mechanical arm has the following drawbacks:
(1) The Z-direction telescopic mechanical arm has large equipment volume and heavy weight, so that the requirement on the installation site is high, and certain use limitation exists;
(2) The Z-direction telescopic mechanical arm is complex in structure and difficult to replace and maintain in the later period;
(3) The equipment cost and the maintenance cost are high.
For this reason, the inventors have provided a flexible lifting system with high adaptability to solve the aforementioned problems.
Disclosure of Invention
The application aims at: aiming at the problems that the existing Z-direction telescopic mechanical arm has higher requirement on the installation site and certain limitation, the flexible lifting system is provided. Based on the improvement of the structure, the application has low installation requirement on the field and better adaptability. Meanwhile, the driving units are arranged in a crossing way, and the stable operation of the stacker head can be effectively ensured by combining the parallelogram-structured conveying units; and based on feedback of the weighing sensor and cooperation of the driving unit, real-time detection and compensation of lifting speed and position can be realized, the aim of synchronous lifting is achieved, and stable operation of the stacker head is ensured. The lifting system equipment provided by the application has the advantages of simple structure, ingenious conception, reasonable design, maintenance-free operation in the later period, convenience in replacement and higher application value.
The technical scheme adopted by the invention is as follows:
the flexible lifting system comprises at least two conveying units, a supporting base, driving units and a control system, wherein the upper ends of the driving units are connected with the supporting base and the supporting base can provide support for the driving units, the lower ends of the driving units are connected with a stacker head and the driving units can drive the stacker head to move along the vertical direction, and the driving units are arranged in a crossed mode;
The conveying unit comprises a conveying line, a material input end, a material output end, an upper end input rod and a lower end input rod, wherein the conveying line is used for conveying materials to the stacker head, the material output end is connected with the stacker head, the material input end and the material output end are respectively arranged at two ends of the conveying line, and materials entering from the material input end can enter the stacker head through the conveying line and the material output end in sequence to carry out stacking operation;
the two ends of the lower input rod are respectively hinged with the material input end and the material output end, the two ends of the upper input rod are respectively hinged with the material input end and the material output end, the lower input rod is positioned below the upper input rods, and the two upper input rods are arranged in a crossing way;
the driving unit comprises an upper end connecting component, a driving base, a power component, a flexible transmission piece, a movable pulley and a lower end connecting component which are connected with the supporting base;
The driving base is connected with the upper end connecting component, the power component is connected with the driving base, and the driving base can provide support for the power component; one end of the flexible transmission piece is connected with the driving base, the other end of the flexible transmission piece is connected with the power assembly, and the power assembly can drive the flexible transmission piece to move;
the movable pulley is arranged on the flexible transmission part and is connected with the stacker head through the lower end connecting assembly, and the flexible transmission part can drive the movable pulley to move relative to the flexible transmission part so as to realize lifting of the stacker head;
The power assembly is connected with the control system.
The flexible transmission parts are arranged in a crossing manner.
The flexible transmission piece is one or more of a cable and a chain.
The flexible transmission piece is a metal cable.
The two upper input rods are arranged in an X-shaped manner in a crossing way.
The power assembly comprises a driving motor, a speed reducer and a transmission shaft for driving the flexible transmission piece to move, wherein the driving motor is connected with the transmission shaft through the speed reducer, and the driving motor is connected with the control system.
The driving motor is a servo motor, and an absolute position encoder is arranged on the servo motor.
And on one side of the conveying line, the connecting points of the material input end, the material output end and the upper end input rod are respectively marked as a first connecting point and a second connecting point, the connecting points of the material output end, the material input end and the lower end input rod are respectively marked as a third connecting point and a fourth connecting point, and the first connecting point, the second connecting point, the third connecting point and the fourth connecting point are arranged in a parallelogram.
The driving unit further comprises a weighing sensor, the weighing sensor is connected with the control system, and the weighing sensor can weigh the driving unit and transmit the measurement result to the control system.
The upper end connecting component comprises a shackle connected with the supporting base and a hook connected with the driving base, and the shackle is connected with the hook of the upper end connecting component.
The shackle is a D-shaped shackle and an arch-shaped shackle.
The lower end connecting component is a hook.
The weighing sensor is a shaft pin type sensor, and the hook of the upper end connecting assembly is connected with the driving base through the shaft pin type sensor.
In view of the foregoing, the present application provides a flexible lifting system, which includes a conveying unit, a support base, a driving unit, and a control system. In the application, the driving unit is mainly used for providing power for lifting of the stacker head, and the transmission unit adopts a parallelogram structure; the upper end of the driving unit is connected with the supporting base, the supporting base can provide support for the driving unit, the lower end of the driving unit is connected with the stacker head, the driving unit can drive the stacker head to move along the vertical direction, and the driving units are arranged in a crossed mode. Meanwhile, the number of the driving units is at least two according to the difference of stacker heads.
In the application, the driving unit comprises an upper end connecting component, a driving base, a power component, a flexible transmission piece, a movable pulley and a lower end connecting component, wherein the upper end connecting component is used for being connected with the supporting base, the power component is connected with the control system, and the movable pulley is connected with the lower end connecting component. In this structure, drive base links to each other with upper end coupling assembling, and power pack links to each other with drive base, and drive base is used for providing the support for power pack. Meanwhile, one end of the flexible transmission piece is connected with the driving base, the other end of the flexible transmission piece is connected with the power assembly, and the flexible transmission piece is driven to move through the power assembly, so that the position of the flexible transmission piece relative to the power assembly is changed. The flexible transmission piece is connected with the movable pulley, and the movable pulley is connected with the stacker head through the lower end connecting component. Based on this structure, when flexible driving medium drives the movable pulley and moves along vertical direction, it can drive the hacking machine head and go up and down.
The application also provides a brand new structural design for the conveying unit. In the application, the conveying unit comprises a conveying line (the input line of the application can be a belt type conveying line) for conveying materials to the stacker head, a material input end, a material output end connected with the stacker head, an upper end input rod and a lower end input rod. The material input end and the material output end are respectively arranged at two ends of the conveying line, and materials entering through the material input end sequentially enter the stacker head through the conveying line and the material output end to carry out stacking operation. The two ends of the lower input rod and the upper input rod are respectively hinged with the material input end and the material output end, and the lower input rod is positioned below the upper input rod; based on this structure, the both ends of lower extreme input pole, upper end input pole can rotate for material input end, material output end respectively.
In the application, the number of the input rods at the lower end is at least two, and the input rods at the lower end are mutually parallel; the number of the upper input rods is two, and the two upper input rods are arranged in a crossing way. And on one side of the conveying line, the connecting points of the material input end, the material output end and the upper end input rod are respectively marked as a first connecting point and a second connecting point, the connecting points of the material output end, the material input end and the lower end input rod are respectively marked as a third connecting point and a fourth connecting point, the first connecting point, the second connecting point, the third connecting point and the fourth connecting point are arranged in a parallelogram, namely, the lower end input rod, the upper end input rod and the conveying line form a parallelogram structure. Based on parallelogram structure's design, can effectively guarantee the steady lift of hacking aircraft nose in vertical direction, guarantee the hacking direction of hacking aircraft nose unanimously.
In addition, the driving unit of the application also comprises a weighing sensor, and the weighing sensor is connected with the control system; the weighing sensor is used for weighing the driving unit and transmitting the measurement result to the control system. In the application, at least two driving units are adopted; in the lifting process, if the stacker head tilts, the stress of the driving units at two sides of the stacker head is unbalanced, the control system compares the difference value of the measured quality, and when the difference value of the two driving units exceeds a set value, the control system performs real-time feedback and compensation by controlling the corresponding driving units, so that the aim of synchronous lifting is fulfilled; in addition, in the lifting process, the weighing sensor detects and feeds back the stress condition of the stacker crane head in real time, and can feed back the stacker crane head at the first time when accidental collision occurs, so that the safety protection effect on equipment is achieved.
In the application, the flexible transmission parts are arranged in a crossing way, the two upper input rods are arranged in an X-shaped way, and the flexible transmission parts are one or more of cables and chains (preferably metal cables). The application further provides a specific power assembly structure which comprises a driving motor, a speed reducer and a transmission shaft, wherein the driving motor is connected with the transmission shaft through the speed reducer, the driving motor is connected with a control system, and the transmission shaft is used for driving the flexible transmission member to move. Preferably, the driving motor is a servo motor, and an absolute position encoder is arranged on the servo motor.
Further, the application provides a specific upper end connecting component and lower end connecting component structure; the upper end connecting component comprises a shackle (the shackle can adopt a D-type shackle or an arch-type shackle) connected with the supporting base and a hook connected with the driving base, and the shackle is connected with the hook of the upper end connecting component; the lower end connecting component is a hook. Preferably, the weighing sensor of the application can adopt a shaft pin type sensor, and the hook of the upper end connecting component is connected with the driving base through the shaft pin type sensor.
In the application, rolling bearings are fixedly adopted at two ends of a conveying line, and joint bearings are fixedly adopted at two ends of a lower input rod and an upper input rod and can freely rotate around the lower input rod and the upper input rod; the support base is fixed on the mounting surface in a bolt connection or welding mode; the hook of the upper end connecting component is hung on the D-shaped shackle of the supporting base and can swing in any direction within a certain range; the flexible transmission element is wound on the transmission shaft of the power assembly, and the tail end of the flexible transmission element is provided with a movable pulley hook. When the driving motor rotates, power is transmitted to the transmission shaft after being decelerated by the speed reducer, the transmission shaft rotates along with the speed reducer and drives the flexible transmission element to move, and under the cooperation of the parallelogram mechanism formed by the pull rod and the conveying line, the stacker head is stably and horizontally lifted.
In summary, the flexible transmission element and the upper input rod are arranged in a crossing manner, and the shaking influence of external disturbing force on the stacker head is reduced by increasing the internal tensile stress, so that the stability of the stacker head in the lifting process is ensured. The power is transmitted through the flexible transmission element, and the driving unit is matched with the parallelogram mechanism to enable the stacker head to stably and horizontally lift. In the application, the driving unit can use at least two sets according to the need; in order to ensure that the stacker head can stably lift under multiple sets of power, the driving motor preferably adopts an absolute position servo motor. The accurate positioning of the servo motor provides basic guarantee for horizontal stable lifting; meanwhile, the position of the servo motor is read to a control system in real time in a communication mode and is used for comparison and inspection, and accumulated errors in the running process are eliminated; in addition, the servo motor encoder feeds back at a high speed, is connected to a high-speed acquisition port of the system, and is used for closed-loop control of the position of the lifting mechanism. The application has ingenious conception, reasonable design and higher application value.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1) The lifting system is not changed in the installation of the foundation, so that potential safety hazards existing after the foundation is changed are avoided;
2) The lifting system has small volume, can be installed in a narrow space, has low requirements on implementation sites, and has universal adaptability;
3) The lifting system has light weight, is convenient to install and construct, and does not need special auxiliary installation lifting equipment;
4) The application adopts flexible transmission, can operate under severe conditions, and has better adaptability;
5) According to the application, through the mutual matching of the plurality of driving units and the combination of feedback of the weighing sensor, the real-time detection and compensation of the lifting speed and the lifting position can be realized, the purpose of synchronous lifting is achieved, and the stable operation of the stacker head is ensured;
6) The application adopts the weighing sensor to detect whether the stress at the tail end is suddenly changed in real time, and the weighing sensor is used as a safety protection mechanism, thereby being beneficial to ensuring the safety of equipment;
7) The driving unit adopts the flexible transmission elements which are arranged in a crossing way, the stacker head is hooked in a crossing way, the upper end input rod is fixed on the stacker head in a crossing way, and the shaking influence of external disturbing force on the stacker head is reduced by increasing internal tensile stress;
8) In the application, the flexible transmission element and the upper input rod are arranged in a crossing way, so that limited physical space is reasonably and effectively utilized, and the lifting stability of the tail end weight is increased;
9) The lifting system equipment provided by the application has the advantages of simple structure, maintenance-free operation in the later period and convenience in replacement.
Drawings
Fig. 1 is a lifting schematic diagram of the flexible lifting system in embodiment 1.
Fig. 2 is a front view of the driving unit and the support base in embodiment 1.
Fig. 3 is a schematic view of the power unit in embodiment 1.
Fig. 4 is a schematic diagram showing the cross arrangement of flexible transmission members in embodiment 1.
Fig. 5 is a schematic diagram showing the cross arrangement of the upper input rods in embodiment 1.
The marks in the figure: 1. the stacker comprises a stacker head, 2, a conveying unit, 3, a supporting base, 4, a driving unit, 5, a D-shaped shackle, 6, a power assembly, 7, a flexible transmission part, 8, a movable pulley, 9, a lower end connecting assembly, 10, a shaft pin type sensor, 11, a driving motor, 12, a speed reducer, 13, a transmission shaft, 14 and a flexible transmission part storage bag.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The flexible lifting system of the embodiment comprises a conveying unit, a supporting base, a driving unit and a control system. In the embodiment, the upper end of the driving unit is connected with the supporting base, and the lower end of the driving unit is connected with the stacker head; as shown in the figure, two driving units are adopted, and the driving units are arranged in a crossed mode.
The conveying unit comprises a conveying line, a material input end, a material output end, an upper end input rod and a lower end input rod, wherein the material input end and the material output end are respectively arranged at two ends of the conveying line. In this structure, the bag form material is through material input end input, and the bag form material that gets into from the material input end gets into the stacker head through transfer chain, material output end in proper order and carries out the sign indicating number material operation. In this embodiment, the both ends of lower extreme input rod pass through joint bearing and material input, material output are articulated, and the both ends of upper end input rod pass through joint bearing and material input, material output are articulated, and the lower extreme input rod is located the below of upper end input rod. In this embodiment, the number of lower input rods and the number of upper input rods are two, the lower input rods are arranged in parallel, a plane formed between the lower input rods is parallel to the conveying plane of the conveying line, and the two upper input rods are arranged in an X-shaped cross manner.
And on one side of the conveying line, the connection points of the material input end, the material output end and the upper end input rod are respectively marked as a first connection point and a second connection point, the connection points of the material output end, the material input end and the lower end input rod are respectively marked as a third connection point and a fourth connection point, and the first connection point, the second connection point, the third connection point and the fourth connection point are arranged in a parallelogram, namely, the upper end input rod, the lower end input rod and the conveying line form a parallelogram mechanism.
The driving unit comprises an upper end connecting component, a driving base, a power component, a flexible transmission piece, a movable pulley and a lower end connecting component. In this embodiment, upper end coupling assembling includes the D type shackle that links to each other with supporting base, the couple that links to each other with drive base, and D type shackle, drive base link to each other with upper end coupling assembling's couple respectively, and power pack links to each other with drive base, and lower extreme coupling assembling adopts the couple. The power assembly comprises a driving motor, a speed reducer and a transmission shaft for driving the flexible transmission piece to move, wherein the driving motor is connected with the transmission shaft through the speed reducer and is connected with the control system. In this embodiment, the driving motor is a servo motor, and an absolute position encoder is disposed on the servo motor. Further, the embodiment further comprises a shaft pin type sensor, the hook of the upper end connecting assembly is connected with the driving base through the shaft pin type sensor, the shaft pin type sensor is connected with the control system, the shaft pin type sensor can weigh the driving unit, and the measurement result is transmitted to the control system.
One end of the flexible transmission piece is connected with the driving base, and the other end of the flexible transmission piece is connected with the transmission shaft of the power assembly. In this embodiment, the flexible driving members are disposed to intersect each other. The movable pulley is arranged on the flexible transmission piece and is connected with the stacker head through the lower end connecting component. In this embodiment, the flexible driving member is a steel cable. Further, the embodiment also includes a flexible drive storage bag that mates with the flexible drive.
The working process of the device of the embodiment is as follows: the shaft pin type sensor in the driving unit can weigh the driving unit and transmit the weighing to the control system in real time; because the driving units are arranged in a crossing way, when the weight difference of the two driving units exceeds a set value, the stacker head is indicated to be in an unstable state, and the control system can compensate and adjust the stacker head by adjusting the driving motor; meanwhile, the design based on the parallelogram mechanism can ensure the stable operation of the stacker head. Meanwhile, in the lifting process, the weighing sensor detects and feeds back the stress condition of the stacker crane head in real time, and when the stacker crane head collides accidentally, the weighing sensor can feed back the stacker crane head at the first time, so that the safety protection effect on equipment is achieved. In the application, a plurality of driving units can be adopted, and an absolute position servo motor is adopted for the driving motor in order to ensure the stable lifting of the stacker head under the plurality of driving units. In the embodiment, the accurate positioning of the servo motor provides basic guarantee for horizontal stable lifting; meanwhile, the position of the servo motor is read to a control system in real time in a communication mode and is used for comparison and inspection, and accumulated errors in the running process are eliminated; in addition, the servo motor encoder feeds back at a high speed, is connected to a high-speed acquisition port of the system, and is used for closed-loop control of the position of the lifting mechanism.
In this example, the support base is bolted or welded to the mounting surface. The hanging hook of the upper end connecting component is hung on the D-shaped shackle of the supporting base and can swing in any direction within a certain range. The flexible transmission element is wound on the transmission shaft of the power assembly, and the tail end of the flexible transmission element is provided with a movable pulley hook. When the driving motor rotates, power is transmitted to the transmission shaft after being decelerated by the speed reducer, the transmission shaft rotates along with the speed reducer to drive the flexible transmission element to move, and under the cooperation of the parallelogram mechanism, the stacker head is stably and horizontally lifted. As shown in fig. 4 and 5, the flexible transmission element and the upper input rod are arranged in a crossing manner, and the shaking influence of external disturbing force on the stacker head is reduced by increasing internal tensile stress, so that the stability of the stacker head in the lifting process is ensured.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
In addition, it should be noted that the specific embodiments described in the present specification may vary from part to part, from name to name, etc., and the above description in the present specification is merely illustrative of the structure of the present application. All equivalent or simple changes of the structure, characteristics and principle according to the inventive concept are included in the protection scope of the present patent. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions in a similar manner without departing from the scope of the application as defined in the accompanying claims.
Claims (9)
1. The flexible lifting system is characterized by comprising at least two conveying units, a supporting base, driving units and a control system, wherein the upper ends of the driving units are connected with the supporting base, the supporting base can provide support for the driving units, the lower ends of the driving units are connected with a stacker head, the driving units can drive the stacker head to move along the vertical direction, and the driving units are arranged in a crossing manner;
The conveying unit comprises a conveying line, a material input end, a material output end, an upper end input rod and a lower end input rod, wherein the conveying line is used for conveying materials to the stacker head, the material output end is connected with the stacker head, the material input end and the material output end are respectively arranged at two ends of the conveying line, and materials entering from the material input end can enter the stacker head through the conveying line and the material output end in sequence to carry out stacking operation;
the two ends of the lower input rod are respectively hinged with the material input end and the material output end, the two ends of the upper input rod are respectively hinged with the material input end and the material output end, the lower input rod is positioned below the upper input rods, and the two upper input rods are arranged in a crossing way;
the driving unit comprises an upper end connecting component, a driving base, a power component, a flexible transmission piece, a movable pulley and a lower end connecting component which are connected with the supporting base;
The driving base is connected with the upper end connecting component, the power component is connected with the driving base, and the driving base can provide support for the power component; one end of the flexible transmission piece is connected with the driving base, the other end of the flexible transmission piece is connected with the power assembly, and the power assembly can drive the flexible transmission piece to move;
the movable pulley is arranged on the flexible transmission part and is connected with the stacker head through the lower end connecting assembly, and the flexible transmission part can drive the movable pulley to move relative to the flexible transmission part so as to realize lifting of the stacker head;
the power assembly is connected with the control system;
And on one side of the conveying line, the connecting points of the material input end, the material output end and the upper end input rod are respectively marked as a first connecting point and a second connecting point, the connecting points of the material output end, the material input end and the lower end input rod are respectively marked as a third connecting point and a fourth connecting point, and the first connecting point, the second connecting point, the third connecting point and the fourth connecting point are arranged in a parallelogram.
2. The flexible lifting system of claim 1, wherein the flexible driving members are disposed crosswise to one another.
3. The flexible lifting system of claim 1, wherein the flexible transmission is one or more of a cable, a chain.
4. The flexible lifting system of claim 1, wherein the two upper input bars are disposed crosswise in an X-shape.
5. The flexible lifting system according to claim 1, wherein the power assembly comprises a driving motor, a speed reducer and a transmission shaft for driving the flexible transmission member to move, the driving motor is connected with the transmission shaft through the speed reducer, and the driving motor is connected with the control system.
6. The flexible lifting system of claim 5, wherein the drive motor is a servo motor having an absolute position encoder disposed thereon.
7. The flexible lifting system according to any one of claims 1 to 6, wherein the driving unit further comprises a weighing sensor, the weighing sensor is connected with the control system and is capable of weighing the driving unit and transmitting the measurement result to the control system.
8. The flexible lifting system of claim 7, wherein the upper end connection assembly comprises a shackle coupled to the support base and a hook coupled to the drive base, the shackle coupled to the hook of the upper end connection assembly.
9. The flexible lifting system of claim 8, wherein the load cell is a pin sensor and the hook of the upper end connection assembly is coupled to the drive base via the pin sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910458274.8A CN110077987B (en) | 2019-05-29 | 2019-05-29 | Flexible lifting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| KR101201878B1 (en) * | 2011-06-03 | 2012-11-15 | 김병찬 | Lift for Transferring Heavy Structure |
| CN206538154U (en) * | 2017-01-18 | 2017-10-03 | 江苏新美星液体包装工程技术研究中心有限公司 | The lifting drive of shifting carrying platform in stacking machine |
| CN209974214U (en) * | 2019-05-29 | 2020-01-21 | 四川福德机器人股份有限公司 | Flexible lifting system |
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| US8662477B2 (en) * | 2009-12-16 | 2014-03-04 | Herkules Equipment Corporation | Belt-driven transportation system |
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| GB9019849D0 (en) * | 1990-09-11 | 1990-10-24 | Robotec Ltd | Compact palletizing device |
| US5395209A (en) * | 1992-04-17 | 1995-03-07 | Busse Bros. Inc. | Palletizer |
| EP1190981A1 (en) * | 2000-09-22 | 2002-03-27 | Eckhardt Penzek | Scissors-type lifting table |
| JP2003104531A (en) * | 2001-10-01 | 2003-04-09 | Daifuku Co Ltd | Cart type conveyance device |
| JP2008184267A (en) * | 2007-01-30 | 2008-08-14 | Daifuku Co Ltd | Carriage type transport device |
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| KR101201878B1 (en) * | 2011-06-03 | 2012-11-15 | 김병찬 | Lift for Transferring Heavy Structure |
| CN206538154U (en) * | 2017-01-18 | 2017-10-03 | 江苏新美星液体包装工程技术研究中心有限公司 | The lifting drive of shifting carrying platform in stacking machine |
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| CN110077987A (en) | 2019-08-02 |
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Address after: 621000 No. 10, south section of Huoju West Street, high tech Zone, Mianyang City, Sichuan Province Patentee after: Sichuan Tianlian Robotics Co.,Ltd. Country or region after: China Address before: 621000 no.386, middle section of Feiyun Avenue, Mianyang City, Sichuan Province Patentee before: SICHUAN FUDE ROBOT Co.,Ltd. Country or region before: China |