Stacking manipulator capable of shaping stack body and orderly stacking method

Abstract

The invention relates to the technical field of stacking equipment, in particular to a stacking manipulator capable of shaping a stack body and an orderly stacking method. The stacking manipulator comprises a frame body, a stacking clamping jaw and a shaping device, a clamping mechanism of the stacking clamping jaw comprises two clamping plates, and the two clamping plates horizontally move to beclose to each other or horizontally move to be separated from each other so as to clamp a metal ingot; and the shaping device comprises two movable frames, each movable frame is connected with a shaping plate, and the two shaping plates are close to each other or separated from each other to clamp and shape the stack body. The two clamping plates act consistently, so that the metal ingot vertically falls down in a parallel state, and the uniformity of stack types is improved; the two clamping plates move in parallel in a linear mode, and the movement space needed by the clamping plates for work is small, so that mistaken touch is effectively avoided, and the uniformity of the stack type is further improved; and stacking is carried out in a metal ingot natural falling mode, the working efficiency is high, and the shaping device is arranged, so that all the metal ingots can be more compact and tidy, and it is guaranteed that the stack type is tidy while the efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of stacking equipment, in particular to a stacking manipulator capable of shaping stacks and a neat stacking method. Background technique [0002] Metal ingots are blocky semi-finished products obtained by pouring liquid metal or alloys into molds, cooling and solidifying. For the convenience of storage and transportation, the produced metal ingots need to be stacked. In order to improve production efficiency, automatic equipment is used for palletizing in the prior art. For example, the Chinese patent with the authorized announcement number CN 209097722U discloses a manipulator clamp for palletizing aluminum ingots, which is characterized in that it includes: a frame, the middle part of which is A connecting column is installed on the top, and a first cylinder arranged vertically downward is installed on the left and right sides of the connecting column, and a pressure plate is installed on the bottom of th...

AI Technical Summary

Problems solved by technology

The existing palletizing jaws drive the two grippers through two groups of cylinders to realize the pick-and-place action by rotating and opening and closing. Since the grippers need to have an arc-shaped rotation space, they have a larger stacking arrangement. The limitation of the method, and the large range of movement of the gripper is also easy to collide with other metal ingots during the stacking process, resulting in irregular arrangement or even the collapse of the stack, posing a safety hazard

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