A robotic palletizing device

Abstract

The application provides a robot stacking device, which comprises a linear ingot casting machine, an arc-shaped baffle and a chain conveyor, the chain conveyor is provided with a stacking robot at a discharging end, the linear ingot casting machine drives metal ingots to move in the arc-shaped baffle, a falling ingot guide mechanism is arranged between the discharging end of the arc-shaped baffle and the chain conveyor, the falling ingot guide mechanism comprises a downwardly inclined guide plate, the guide plate is arranged at the discharging end of the arc-shaped baffle, an upper material blocking roller is arranged on an inclined extension line of the guide plate, an inclined spacing between the upper material blocking roller and the discharging end is L1, L1<1 / 2L 底 , a vertical spacing between the upper material blocking roller and the chain conveyor is L2, h<L2<H, an inclined spacing between the upper material blocking roller and the chain conveyor is L3, L3<L 底 . The application realizes unified inverted conveying of the metal ingots through the arrangement of the guide plate and the upper material blocking roller, and subsequent supervision and correction are not needed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking, in particular to a robot stacking device. BACKGROUND

[0002] After the metal ingot such as aluminum ingot, zinc ingot and the like is demolded by a linear ingot casting machine, the metal ingot is moved along an arc-shaped baffle by the linear ingot casting machine, and finally falls by gravity through the lower end of the arc-shaped baffle. No other measures are adopted, and the metal ingot is mainly inverted (the longer bottom edge is upward) for conveying on the chain conveyor, but some metal ingots are also conveyed in a vertical side-up state (the longer bottom edge is downward) or in a vertical side-up state (the metal ingot is obliquely contacted with the chain conveyor), which cannot ensure that the metal ingot is in a uniform inverted state after falling, and needs to be supervised and corrected by a special worker.

[0003] CN206358848U discloses an automatic ingot falling and connecting mechanism for a zinc ingot automatic stacking production line, the zinc ingot falls on the ingot connecting device, the ingot connecting device is lowered to the position of the chain conveyor, the zinc ingot is stably placed on the chain conveyor, and finally is transported away by the chain conveyor. The ingot connecting mechanism can only convey the zinc ingot in a vertical state, and cannot convert the vertical and inverted conveying according to the needs. SUMMARY

[0004] The present application provides a robot stacking device, which realizes uniform inverted conveying of the metal ingot through the setting of the guide plate and the upper material blocking roller, and does not need subsequent supervision and correction.

[0005] The technical scheme of the present application is implemented as follows: a robot stacking device, comprising a linear ingot casting machine, an arc-shaped baffle and a chain conveyor, a stacking robot is arranged at the discharging end of the chain conveyor, the linear ingot casting machine drives the metal ingot to move in the arc-shaped baffle, a falling ingot guide mechanism is arranged between the discharging end of the arc-shaped baffle and the chain conveyor, the falling ingot guide mechanism comprises an inclined downward guide plate, the guide plate is arranged at the discharging end of the arc-shaped baffle, an upper material blocking roller is arranged on the inclined extension line of the guide plate, the inclined spacing between the upper material blocking roller and the discharging end is L1, L1<1 / 2L 底 , L 底 is the length of the bottom of the metal ingot, the vertical spacing between the upper material blocking roller and the chain conveyor is L2, h<L2<H, h is the thickness of the metal ingot, H is the vertical height when the metal ingot is side-up, the inclined spacing between the upper material blocking roller and the chain conveyor is L3, L3<L 底 .

[0006] Further, the upper material blocking roller is connected with a first telescopic cylinder, the falling ingot guide mechanism further comprises a lower material blocking plate, the lower material blocking plate is arranged on the chain conveyor, a lower material blocking roller is arranged on the side of the lower material blocking plate close to the upper material blocking roller, and the downward end of the metal ingot falls between the lower material blocking plate and the lower material blocking roller.

[0007] Further, the middle part of the lower material blocking plate is hinged with the fixed support, the lower end is hinged with the second telescopic cylinder, the lower end of the lower material blocking plate rotates towards the direction close to the upper material blocking roller, the end part of the metal ingot falls between the lower material blocking plate and the lower material blocking roller, the lower end of the lower material blocking plate rotates towards the direction away from the upper material blocking roller, and the end part of the metal ingot falls between the lower material blocking plate and the upper material blocking roller on the chain conveyor.

[0008] Further, 1 / 2L 底 <L3<L 底 .

[0009] Further, the fixed blocking plate is arranged at the discharging end of the chain conveyor, the vertical lifting material blocking plate is arranged at the material inlet side of the fixed blocking plate, and the material blocking area is arranged between the fixed blocking plate and the material blocking plate.

[0010] The beneficial effects of the present application are as follows:

[0011] The present application is provided with the guide plate and the upper material blocking roller, so that when the metal ingot falls off, the end part of the metal ingot falling downwards first falls on the chain conveyor, and the end part of the metal ingot falling upwards leans on the upper material blocking roller, the chain conveyor drives the lower end part of the metal ingot to move, and under the limiting of the upper material blocking roller, the metal ingot is inverted and falls on the chain conveyor, thereby realizing the unified inverted conveying of the metal ingot and avoiding the normal and vertical inclined conveying.

[0012] The present application is provided with the lower material blocking plate, the lower material blocking roller and the upper material blocking roller, so that the unified normal conveying of the metal ingot is realized. The middle part of the lower material blocking plate is hinged with the fixed support, the lower end of the lower material blocking plate reciprocates, the position of the lower material blocking plate is adjusted, the conversion between the normal conveying and the inverted conveying of the metal ingot is realized. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0014] Figure 1 It is a structural schematic view of the robot stacking device of the present application.

[0015] Figure 2 It is a structural schematic view of the robot stacking device of the present application. Figure 1 It is a local enlarged view of A.

[0016] Figure 3 It is a structural schematic view of the ingot falling guide mechanism of embodiment 2.

[0017] Figure 4Schematic diagram of the structure of the ingot dropping guiding mechanism in Example 3 (inverted conveying of metal ingots);

[0018] Figure 5 Schematic diagram of the structure of the ingot dropping guiding mechanism in Example 3 (upright conveying of metal ingots)

[0019] Linear ingot casting machine 1, arc baffle 2, chain conveyor 3, palletizing robot 4, guiding plate 5, upper material blocking roller 6, first telescopic cylinder 7, lower material blocking plate 8, lower material blocking roller 9, fixed bracket 10, second telescopic cylinder 11, fixed baffle 12, material blocking plate 13. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1

[0022] As Figure 1 and 2 shown, a robot palletizing device includes a linear ingot casting machine 1, an arc baffle 2 and a chain conveyor 3. A palletizing robot 4 is fixed at the discharge end of the chain conveyor 3, and the metal ingots at the discharge end of the chain conveyor 3 are grabbed by the palletizing robot 4. The arc baffle 2 is installed along the discharge end of the linear ingot casting machine 1. The linear ingot casting machine 1 drives the metal ingots to move within the arc baffle 2 and discharges through the lower end of the arc baffle 2.

[0023] A dropping guiding mechanism is provided between the discharge end of the arc baffle 2 and the chain conveyor 3. The dropping guiding mechanism includes a downward-sloping guiding plate 5, and the upper end of the guiding plate 5 is connected to the discharge end of the arc baffle 2. An upper material blocking roller 6 is installed on the inclined extension line of the guiding plate 5. The inclined distance between the upper material blocking roller 6 and the discharge end of the guiding plate 5 is L1, and L1 < 1 / 2L 底 , L 底 is the bottom length (longer bottom side) of the metal ingot, and the inclined distance refers to the distance along the inclined extension line of the guiding plate 5. Through the setting of this inclined distance L1, when the metal ingot slides downward along the guiding plate 5, it can continue to slide along the upper material blocking roller 6 instead of sliding between the upper material blocking roller 6 and the guiding plate 5 due to the center of gravity shifting. The vertical distance between the upper material blocking roller 6 and the chain conveyor 3 is L2, h < L2 < H, where h is the thickness of the metal ingot and H is the vertical height when the metal ingot overturns sideways. The limitation of the L2 distance is that if the metal ingot overturns vertically on the chain conveyor 3, the upper material blocking roller 6 can change the metal ingot from overturning to lying flat. The inclined distance between the upper material blocking roller 6 and the chain conveyor 3 is L3, and L3 < L底 The L3 distance is limited so that the upward-facing end of the metal ingot rests on the upper guide roller 6, while the downward-facing end rests on the chain conveyor 3. This prevents the metal ingot from detaching directly from the upper guide roller 6 due to excessive distance. Further optimization is needed, 1 / 2L... 底 <L3<L 底 When the center of gravity of the metal ingot passes the upper guide roller 6, the downward end of the metal ingot deviates from the inclined extension line of the guide plate 5 and falls onto the chain conveyor 3, which is more conducive to the side-tipping and inversion of the metal ingot.

[0024] The method of using the robot palletizing device is as follows: The linear ingot casting machine 1 drives the metal ingot to move within the arc-shaped baffle 2, and slides down sequentially through the lower end of the arc-shaped baffle 2, the guide plate 5, and the upper baffle roller 6. The upward end of the metal ingot rests on the upper baffle roller 6, and the downward end falls onto the chain conveyor 3. The chain conveyor 3 drives the downward end of the metal ingot to move, causing the metal ingot to become vertically flipped. Then, under the action of the upper baffle roller 6, the metal ingot changes from being flipped to being laid flat, thereby ensuring that the bottom of the metal ingot is conveyed upward.

[0025] Example 2

[0026] This embodiment is basically the same as Embodiment 1, except that, as Figure 3 As shown, the upper guide roller 6 is connected to the first telescopic cylinder 7. The ingot dropping guide mechanism also includes a lower guide plate 8, which is fixed downwards on the frame of the chain conveyor 3. A lower guide roller 9 is connected to the side of the lower guide plate 8 near the upper guide roller 6. The downward-facing end of the metal ingot falls between the lower guide plate 8 and the lower guide roller 9. If the metal ingot needs to be placed and conveyed in the correct direction, the downward-facing end of the metal ingot falls between the lower guide plate 8 and the lower guide roller 9. The first telescopic cylinder 7 retracts, causing the upper guide roller 6 to move away from the metal ingot. The upward-facing end of the metal ingot falls onto the conveyor chain. The chain conveyor 3 moves one end of the metal ingot, causing the other end to disengage from the lower guide roller 9.

[0027] Example 3

[0028] This embodiment is basically the same as embodiment 2, except that, as Figure 4 and 5 As shown, the middle part of the lower baffle plate 8 is hinged to the fixed bracket 10, which is fixed to the frame of the conveyor chain machine. The lower end of the lower baffle plate 8 is hinged to the second telescopic cylinder 11. When the second telescopic cylinder 11 extends, it drives the lower end of the lower baffle plate 8 to rotate towards the upper baffle roller 6, so that the downward-facing end of the metal ingot falls between the lower baffle plate 8 and the lower baffle roller 9 (e.g., Figure 5 (As shown). The second telescopic cylinder 11 retracts, causing the lower end of the lower baffle plate 8 to rotate away from the upper baffle roller 6, and the end of the metal ingot falls onto the chain conveyor 3 between the lower baffle plate 8 and the upper baffle roller 6 (as shown). Figure 4(As shown). With this structure, the metal ingot can be conveyed in either an inverted or upright manner. When inverted conveying is required, the upper baffle roller 6 is placed on the inclined extension line of the guide plate 5 without deviation. The second telescopic cylinder 11 extends and retracts, and the lower end of the lower baffle plate 8 moves away from the upper baffle roller 6. The height of the lower baffle roller 9 is lower than the conveyor chain at the upper end of the conveyor chain machine.

[0029] Example 4

[0030] This embodiment is basically the same as Embodiment 1, except that: Figure 1 As shown, a fixed baffle 12 is fixed at the discharge end of the chain conveyor 3. A vertically lifting blocking plate 13 is provided on the material receiving side of the fixed baffle 12. The blocking plate 13 is controlled by a vertical lifting cylinder. The area between the fixed baffle 12 and the blocking plate 13 is the material grabbing area. The number of metal ingots in the material grabbing area meets the set requirements. The blocking plate 13 moves up to prevent interference from subsequent metal ingots. The palletizing robot 4 grabs and stacks the metal ingots in the material grabbing area. The blocking plate 13 moves down to allow subsequent metal ingots to enter the material grabbing area.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot palletizing device, comprising a straight ingot caster, an arc-shaped baffle and a chain conveyor, a palletizing robot is arranged at the discharge end of the chain conveyor, the straight ingot caster drives the metal ingot to move in the arc-shaped baffle, characterized in that: The discharge end of the arc-shaped baffle is provided with a ingot falling guide mechanism, the ingot falling guide mechanism comprises a downwardly inclined guide plate, the guide plate is arranged at the discharge end of the arc-shaped baffle, an upper material blocking roller is arranged on the inclined extension line of the guide plate, the inclined spacing between the upper material blocking roller and the discharge end is L1, L1<1 / 2L 底 , L 底 is the bottom length of the metal ingot, the vertical spacing between the upper material blocking roller and the chain conveyor is L2, h<L2<H, h is the thickness of the metal ingot, H is the vertical height when the metal ingot is turned over, the inclined spacing between the upper material blocking roller and the chain conveyor is L3, L3<L 底 ; The upper material blocking roller is connected with the first telescopic cylinder, and the ingot falling guide mechanism further comprises a lower material blocking plate, which is arranged on the chain conveyor and is provided with a lower material blocking roller on the side close to the upper material blocking roller, and the downward end of the metal ingot falls between the lower material blocking plate and the lower material blocking roller; The middle part of the lower material blocking plate is hinged with the fixed support, and the lower end is hinged with the second telescopic cylinder, the lower end of the lower material blocking plate rotates towards the direction close to the upper material blocking roller, the downward end of the metal ingot falls between the lower material blocking plate and the lower material blocking roller, the lower end of the lower material blocking plate rotates towards the direction away from the upper material blocking roller, and the end of the metal ingot falls between the lower material blocking plate and the upper material blocking roller on the chain conveyor; When the metal ingot needs to be placed and conveyed in the forward direction, the second telescopic cylinder is extended to drive the lower end of the lower material blocking plate to rotate towards the direction close to the upper material blocking roller, the downward end of the metal ingot falls between the lower material blocking plate and the lower material blocking roller, the first telescopic cylinder is retracted to drive the upper material blocking roller to move away from the metal ingot, the upward end of the metal ingot falls on the chain conveyor, the chain conveyor drives one end of the metal ingot to move and drives the other end to be separated from the lower material blocking roller; when inverted conveying is needed, the upper material blocking roller is placed on the inclined extension line of the guide plate without deviation, the second telescopic cylinder is extended or retracted, the lower end of the lower material blocking plate is away from the upper material blocking roller, and the height of the lower material blocking roller is lower than the conveying chain on the upper end of the chain conveyor.

2. The robotic palletizing device of claim 1, wherein: 1 / 2L 底 <L3<L 底 .

3. The robotic palletizing device of claim 1, wherein: The discharge end of the chain conveyor is provided with a fixed baffle, the incoming side of the fixed baffle is provided with a vertically lifting blocking plate, and the area between the fixed baffle and the blocking plate is a grabbing area.

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