A stacking robot for aluminum ingot production

Abstract

The present invention discloses an ingot stacking robot for aluminum ingot production, which belongs to the technical field of aluminum ingot production equipment. A mobile vehicle for horizontal movement and a support plate structure of a plate chain conveyor are provided. Under the transmission of the plate chain conveyor, vertical movement is realized in sequence. A folding plate is provided at the edge of the support plate. When the support plate moves vertically upward, two symmetrical plate chain conveyors drive two folding plates of the same height to move upward. Through the support of the two folding plates, both ends of several arranged aluminum ingot bars can be supported and lifted. This structure can accommodate and clamp more aluminum ingot bars at one time, so that they can be arranged and stacked vertically. After the mobile vehicle drives the clamping hand to move out, the plate chain conveyor rotates in the opposite direction, so that the clamped rows of aluminum ingot groups can be dropped and stacked in sequence. Compared with a general stacking robot, this device has a larger number of disposable aluminum ingot bars, can adapt to a faster aluminum ingot transmission speed, improves the unloading efficiency of the aluminum ingot bars, and has a longer service life of the robot.

Description

Technical Field

[0001] The invention belongs to the technical field of aluminum ingot production equipment, and specifically relates to an ingot stacking robot for aluminum ingot production. Background Art

[0002] The aluminum ingot stacking robot is an automated device used to automatically stack and transport aluminum ingots on aluminum processing production lines. Through precise control, it can neatly stack the cooled aluminum ingots for subsequent storage or transportation, improving production efficiency and safety. Although the existing aluminum ingot stacking robot plays an important role in the automated production line, it also has some obvious shortcomings.

[0003] First, the rotation and movement structure of these manipulators is relatively complex, including multiple joints and drive components, which not only increases the manufacturing cost, but also increases the difficulty of maintenance and the failure rate. Due to the high working frequency, these complex structures are easily damaged during long-term high-intensity work, causing the manipulator to malfunction, affecting production efficiency and stability.

[0004] In addition, existing manipulators can usually only hold and transfer aluminum ingots arranged in one layer. This single-layer operation limits its working efficiency, especially in large-scale production, where the single-layer stacking method cannot meet the needs of rapid production. This leads to low overall production efficiency, inability to fully utilize the potential of automation equipment, and increased production costs. Summary of the invention

[0005] In view of this, an object of the present invention is to provide an ingot stacking robot for aluminum ingot production, which can clamp rows of aluminum ingot bars in multiple layers at one time, thereby improving the aluminum ingot clamping efficiency and reducing the working frequency of the device.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention includes a column arranged beside an aluminum ingot conveyor belt, a cross beam is provided at the top of the column, a moving car is slidably provided on the cross beam, an arm is vertically movable on the moving car, a clamping hand is provided at the bottom end of the arm, the moving car drives the clamping hand to move out and in above the end of the aluminum ingot conveyor belt, the clamping hand includes a top platform, two plate chain conveyors are provided on the bottom side of the top platform, when the clamping hand is located above the end of the aluminum ingot conveyor belt, the two plate chain conveyors are located on both sides of the aluminum ingot conveyor belt, a plurality of support plates are arranged and conveyed on the plate chain conveyor belt, a folding plate for supporting the bottom surface of the end of the aluminum ingot bar is provided on one edge of the support plate, the folding plate moves vertically upward from the bottom of the aluminum ingot conveyor belt along with the plate chain conveyor belt, and the two ends of the aluminum ingot bars arranged and stacked at the end of the aluminum ingot conveyor belt are supported and lifted by two synchronously rising folding plates.

[0008] Furthermore, the plate chain conveyor belt includes two vertically arranged vertical plates, and a rotating shaft is rotatably provided at the upper and lower ends of the two vertical plates respectively. Transmission teeth are provided at both ends of the rotating shaft, and chains are meshed around the upper and lower transmission teeth. The rotating shafts of the chains at both ends are connected by a connecting shaft, and two supporting feet are provided on the inner side of the support plate, and the two supporting feet are rotatably provided on the two adjacent connecting shafts respectively.

[0009] Furthermore, a bearing seat is provided at the lower end of the vertical plate for vertical sliding, and both ends of the lower rotating shaft are rotatably arranged on the bearing seats respectively. A support beam is fixedly connected between the middle parts of the two vertical plates of each plate chain conveyor belt, and the support beam is fixed with a positive thread column, and also includes a middle bearing rotatably arranged in the middle part of the lower rotating shaft, and a reverse thread column is provided laterally of the middle bearing, and the positive thread column and the reverse thread column have opposite thread rotation directions and are threadedly connected to an adjustment cylinder at the same time.

[0010] Furthermore, a driven bevel gear is coaxially provided at the end of the upper rotating shaft, a motor is fixed on the top platform, an output shaft is provided at the output end of the motor, two driving bevel gears are provided on the output shaft, and the two driving bevel gears are respectively meshed with the two driven bevel gears.

[0011] Furthermore, a regular plate is provided parallel to the outer side of the support plate, a connecting column is extended from the inner side of the regular plate, the connecting column slides through the support plate and is simultaneously connected to an inner plate, a spring is provided between the inner plate and the support plate, a triangular support block is provided on the side of the inner plate, and a stop roller is provided between the middle parts of the two vertical plates. As the support plate rises and falls, the triangular support block is stopped by the stop roller, and the clamped aluminum ingot bars are arranged in a regular manner.

[0012] Furthermore, it also includes a blanking table, the mobile vehicle drives the clamping hand to move from the end of the aluminum ingot conveyor belt to the top of the blanking table, the blanking table includes a base, a rotating seat and a material seat, the rotating seat is rotatably arranged on the top of the base, the material seat is fixed on the top of the rotating seat, and the rotating seat drives the material seat to rotate back and forth by 90°.

[0013] Furthermore, the crossbeam extends from both sides of the top of the column, and a counterweight block for balancing the clamping hand is suspended at the end of the crossbeam.

[0014] The beneficial effects of the present invention are:

[0015] The present invention drives the clamping hand for clamping the aluminum ingot to move in and out at the end of the aluminum ingot conveyor belt by means of a moving vehicle arranged on a crossbeam. When the clamping hand moves into the end of the aluminum ingot conveyor belt, two ends of a fixed number of aluminum ingots arranged at the end of the aluminum ingot conveyor belt are clamped by means of two vertically movable plate chain conveyor belts. The plate chain conveyor belt has a rigid support plate structure. Under the transmission of the plate chain conveyor belt, it realizes sequential vertical movement. A folding plate is arranged at the edge of the support plate. When the support plate moves vertically upward, the two symmetrical plate chain conveyor belts drive two folding plates of the same height to move upward. The two folding plates support the arrangement of the aluminum ingots. The two ends of several rows of aluminum ingot bars are supported and lifted. Through this structure, when the clamping arm is at the end of the aluminum ingot conveyor belt, more aluminum ingot bars can be accommodated and clamped at one time, so that they can be arranged and stacked vertically. After the mobile vehicle drives the clamping arm to move out, the plate chain conveyor belt rotates in the opposite direction, so that several rows of clamped aluminum ingot groups can be dropped and stacked in turn. Compared with general stacking manipulators, this device has a larger number of one-time aluminum ingot bar clamping, reduces the number of manipulator movements required for stacking the same number of aluminum ingot bars, can adapt to faster aluminum ingot transmission speeds, improves the unloading efficiency of aluminum ingot bars, and extends the service life of the manipulator.

[0016] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or those skilled in the art may be taught from the practice of the present invention. The objectives and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0018] Figure 1 This is a schematic diagram of the first state of the ingot stacking robot according to an embodiment of the present invention;

[0019] Figure 2 for Figure 1 A magnified schematic diagram of point A;

[0020] Figure 3 This is a schematic diagram of the second state of the ingot stacking robot according to an embodiment of the present invention;

[0021] Figure 4 Detailed diagram of the clamping hand in the embodiment of the present invention Figure 1 ;

[0022] Figure 5 for Figure 4 An enlarged schematic diagram of point B;

[0023] Figure 6 Detailed diagram of the clamping hand in the embodiment of the present invention Figure 2 ;

[0024] The markings in the attached drawings are as follows: 1, aluminum ingot conveyor belt; 2, column; 3, crossbeam; 4, mobile car; 5, arm; 6, clamping hand; 61, top platform; 62, plate chain conveyor belt; 621, support plate; 6211, folding plate; 6212, support foot; 6213, regular plate; 6214, connecting column; 6215, inner plate; 6216, spring; 6217, triangular support block; 622, vertical plate; 6221, bearing seat; 623, rotating shaft; 6231, transmission tooth; 6232, driven bevel gear; 624, chain; 6241, connecting shaft; 625, support beam; 6251, positive thread column; 6252, middle bearing; 6253, reverse thread column; 6254, adjustment cylinder; 626, motor; 6261, output shaft; 6262, driving bevel gear; 627, stop roller; 7, aluminum ingot bar; 8, blanking table; 81, base; 82, swivel seat; 83, material seat; 9, counterweight block. DETAILED DESCRIPTION

[0025] like Figure 1 to Figure 6 As shown, the present invention discloses an ingot stacking robot for aluminum ingot production, which is arranged at the conveying end of the aluminum ingot conveyor belt 1. The aluminum ingot conveyor belt 1 arranges and conveys the long aluminum ingot strips 7 to the end, and performs unloading and stacking operations through the robot. Figure 1 The invention comprises a column 2 arranged beside an aluminum ingot conveyor belt 1, a crossbeam 3 is arranged at the top of the column 2, a moving vehicle 4 is slidably arranged on the crossbeam 3, an arm 5 is vertically movable on the moving vehicle 4, a clamping hand 6 is arranged at the bottom end of the arm 5, the crossbeam 3 extends from both sides of the top of the column 2, and a counterweight 9 for balancing the clamping hand 6 is suspended at the end of the crossbeam 3. The counterweight 9 is arranged to help maintain the stability of the structure and avoid excessive deviation of the center of gravity causing the column 2 to deflect; reference Figure 1 The mobile vehicle 4 drives the gripping hand 6 to move out and in above the end of the aluminum ingot conveyor belt 1, refer to Figure 2 The clamping hand 6 includes a top platform 61, and two vertical conveying plate chain conveyor belts 62 are arranged on the bottom side of the top platform 61. When the clamping hand 6 is located above the end of the aluminum ingot conveyor belt 1, the two plate chain conveyor belts 62 are located on both sides of the aluminum ingot conveyor belt 1. The plate chain conveyor belt 62 includes two vertically arranged vertical plates 622, and the upper and lower ends of the two vertical plates 622 are respectively rotatably provided with a rotating shaft 623, and the two ends of the rotating shaft 623 are provided with transmission teeth 6231, and the upper and lower transmission teeth 6231 are surrounded and meshed with chains 624, and the rotating shafts 623 of the chains 624 at both ends are connected by a connecting shaft 6241. Figure 4 and Figure 5As shown, a number of support plates 621 are arranged and conveyed on the plate chain conveyor 62, and a folding plate 6211 is provided on one edge of the support plate 621 for supporting the bottom surface of the end of the aluminum ingot bar 7, and two supporting feet 6212 are provided on the inner side of the support plate 621, and the two supporting feet 6212 are respectively rotatably set on two adjacent connecting shafts 6241. The folding plate 6211 moves vertically upward from the bottom of the aluminum ingot conveyor 1 along with the plate chain conveyor 62, and the two ends of the aluminum ingot bars 7 arranged and stacked at the end of the aluminum ingot conveyor 1 are supported and lifted by two synchronously rising folding plates 6211.

[0026] In this scheme, a moving vehicle 4 is arranged on the crossbeam 3 to drive a clamping hand 6 for clamping the aluminum ingot to move in and out at the end of the aluminum ingot conveyor belt 1. When the clamping hand 6 moves into the end of the aluminum ingot conveyor belt 1, two vertically moving plate chain conveyors 62 are used to clamp the two ends of a fixed number of aluminum ingot bars 7 arranged at the end of the aluminum ingot conveyor belt 1. The plate chain conveyor belt 62 has a rigid support plate 621 structure. Under the transmission of the plate chain conveyor belt 62, it realizes vertical movement in sequence. A folding plate 6211 is arranged on the edge of the support plate 621. When the support plate 621 moves vertically upward, the two symmetrical plate chain conveyors 62 drive two folding plates 6211 of the same height to move upward. The two folding plates 6211 support can support and lift the two ends of the arranged aluminum ingot bars 7. Through this structure, when the clamping hand 6 is at the end of the aluminum ingot conveyor belt 1, more aluminum ingot bars 7 can be accommodated and clamped at one time, so that they can be arranged and stacked vertically. After the mobile vehicle 4 drives the clamping hand 6 to move out, the plate chain conveyor belt 62 rotates in the opposite direction, so that the clamped rows of aluminum ingot groups can be dropped and stacked in turn. Compared with the general stacking robot, this device has a larger number of disposable aluminum ingot bars 7, reduces the number of robot movements required for stacking the same number of aluminum ingot bars 7, can adapt to faster aluminum ingot transmission speed, improves the unloading efficiency of aluminum ingot bars 7, and has a longer service life of the robot.

[0027] In a further solution, Figure 2 As shown, a bearing seat 6221 is vertically slidably provided at the lower end of the vertical plate 622, and both ends of the lower rotating shaft 623 are rotatably provided on the bearing seat 6221 respectively. A support beam 625 is fixedly connected between the middle parts of the two vertical plates 622 of each plate chain conveyor 62, and the support beam 625 is fixed with a positive thread column 6251, and also includes a middle bearing 6252 rotatably provided in the middle part of the lower rotating shaft 623, and a reverse thread column 6253 is laterally provided on the middle bearing 6252. The positive thread column 6251 and the reverse thread column 6253 have opposite thread rotation directions and are threadedly connected to an adjusting cylinder 6254 at the same time.

[0028] In this structure, a fine-adjustable conveyor belt straightening structure is provided. By rotating the adjusting cylinder 6254, the relative distance between the middle bearing 6252 and the support beam 625 is adjusted to adjust the distance between the two upper and lower rotating shafts 623, so that the vertical plate chain structure is straightened, ensuring that several support plates 621 are arranged vertically and have a more stable supporting and lifting capacity.

[0029] In a further solution, Figure 6 As shown, a driven bevel gear 6232 is coaxially provided at the end of the upper rotating shaft 623, a motor 626 is fixed on the top platform 61, an output shaft 6261 is provided at the output end of the motor 626, two driving bevel gears 6262 are provided on the output shaft 6261, and the two driving bevel gears 6262 are respectively meshed with the two driven bevel gears 6232.

[0030] In this solution, by providing a motor 626 and a bevel gear transmission structure, the motor 626 can drive two pairs of plate chain conveyor belts 62 to transmit synchronously, so that the clamping hand 6 has a more balanced and stable lifting ability.

[0031] In a further solution, Figure 5 As shown, a regular plate 6213 is provided parallel to the outer side of the support plate 621, and a connecting column 6214 is extended on the inner side of the regular plate 6213. The connecting column 6214 slides through the support plate 621 and is simultaneously connected to an inner plate 6215. A spring 6216 is provided between the inner plate 6215 and the support plate 621. A triangular support block 6217 is also provided on the side of the inner plate 6215. A stop roller 627 is also provided between the middle parts of the two vertical plates 622. As the support plate 621 rises and falls, the triangular support block 6217 is stopped by the stop roller 627 to arrange the clamped aluminum ingot bars 7 in a regular manner.

[0032] In this structure, by setting the regularizing plate 6213, when the regularizing plate 6213 moves up and down on the support plate 621, the blocking roller 627 informs the triangular support block 6217 of where to go, so that two regularizing plates 6213 of the same height clamp the two ends of the supported aluminum ingot bar 7 inward, and several aluminum ingot bars 7 of the same height can be regularly arranged, and the two ends of several aluminum ingot bars 7 are located in the same straight line and are stably supported by the folding plate 6211. This structure can assist in the clamping and support of the aluminum ingot bars 7, and avoid the problems of positional offset and uneven arrangement of the aluminum ingot bars 7 caused by factors such as vibration during the overall movement of the aluminum ingot bars 7.

[0033] In a further solution, Figure 1 and Figure 3As shown, it also includes a blanking platform 8. The mobile vehicle 4 drives the clamping hand 6 to move from the end of the aluminum ingot conveyor belt 1 to the top of the blanking platform 8. The blanking platform 8 includes a base 81, a rotating seat 82 and a material seat 83. The rotating seat 82 is rotatably arranged on the top of the base 81, and the material seat 83 is fixed on the top of the rotating seat 82. The rotating seat 82 drives the material seat 83 to rotate back and forth by 90°.

[0034] By providing a material table that can rotate 90 degrees, it can rotate as the aluminum ingot bars 7 of the plate chain conveyor 62 are lowered in sequence, so that the stacked aluminum ingot bars 7 are stacked and supported in a cross-type manner, thereby ensuring the final stacking stability of the aluminum ingot bars 7.

[0035] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. An ingot stacking robot for aluminum ingot production, characterized in that: The invention comprises a column (2) arranged beside an aluminum ingot conveyor belt (1), a crossbeam (3) being arranged at the top of the column (2), a moving vehicle (4) being slidably arranged on the crossbeam (3), an arm (5) being arranged on the moving vehicle (4) for vertical movement, a clamping hand (6) being arranged at the bottom end of the arm (5), the moving vehicle (4) driving the clamping hand (6) to move out and in above the end of the aluminum ingot conveyor belt (1), the clamping hand (6) comprising a top platform (61), two plate chain conveyor belts (62) being arranged at the bottom side of the top platform (61), when the clamping hand (6) is located above the end of the aluminum ingot conveyor belt (1), the two plate chain conveyor belts (62) are located on both sides of the aluminum ingot conveyor belt (1), and the conveying belts (62) are arranged on the plate chain conveyor belt (62). A plurality of support plates (621) are provided, one edge of the support plate (621) is provided with a folding plate (6211) for supporting the bottom surface of the end of the aluminum ingot bar (7), the folding plate (6211) moves vertically upward from the bottom of the aluminum ingot conveyor belt (1) along with the plate chain conveyor belt (62), and the two ends of the aluminum ingot bars (7) arranged and stacked at the end of the aluminum ingot conveyor belt (1) are supported and lifted by two synchronously rising folding plates (6211); the plate chain conveyor belt (62) comprises two vertically arranged vertical plates (622), the upper and lower ends of the two vertical plates (622) are respectively rotatably provided with a rotating shaft (623), the two ends of the rotating shaft (623) are provided with transmission teeth (6231), and the upper and lower transmission teeth (6231) are provided with transmission teeth (6231). A chain (624) is provided in meshing engagement therewith, and the rotating shafts (623) of the chains (624) at both ends are connected via a connecting shaft (6241). Two legs (6212) are provided on the inner side of the support plate (621), and the two legs (6212) are rotatably arranged on two adjacent connecting shafts (6241). A bearing seat (6221) is provided at the lower end of the vertical plate (622) for vertical sliding, and the two ends of the rotating shaft (623) at the lower position are rotatably arranged on the bearing seat (6221). A support beam (625) is fixedly connected between the middle parts of the two vertical plates (622) of each plate chain conveyor (62), and a positive thread column (6251) is fixedly arranged on the support beam (625). The support beam (625) also includes a rotating A middle bearing (6252) is dynamically arranged in the middle of the lower rotating shaft (623), a reverse thread column (6253) is arranged on the side of the middle bearing (6252), the thread rotation directions of the positive thread column (6251) and the reverse thread column (6253) are opposite and they are threadedly connected to an adjustment cylinder (6254); a driven bevel gear (6232) is coaxially arranged at the end of the upper rotating shaft (623), a motor (626) is fixedly arranged on the top platform (61), an output shaft (6261) is arranged at the output end of the motor (626), two driving bevel gears (6262) are arranged on the output shaft (6261), and the two driving bevel gears (6262) are respectively meshed with the two driven bevel gears (6232);A regular plate (6213) is arranged parallel to the outer side of the support plate (621), and a connecting column (6214) is extended from the inner side of the regular plate (6213). The connecting column (6214) slides through the support plate (621) and is connected to an inner plate (6215) at the same time. A spring (6216) is arranged between the inner plate (6215) and the support plate (621). A triangular support block (6217) is also arranged on the side of the inner plate (6215). A stop roller (627) is also arranged between the middle parts of the two vertical plates (622). As the support plate (621) rises and falls, the triangular support block (6217) is stopped by the stop roller (627) to arrange the clamped aluminum ingot bars (7) in a regular manner.

2. The ingot stacking robot for aluminum ingot production according to claim 1, characterized in that: It also includes a material drop table (8), wherein the moving vehicle (4) drives the clamping hand (6) to move from the end of the aluminum ingot conveyor belt (1) to the top of the material drop table (8), and the material drop table (8) includes a base (81), a rotating seat (82) and a material seat (83), wherein the rotating seat (82) is rotatably arranged on the top of the base (81), and the material seat (83) is fixed on the top of the rotating seat (82), and the rotating seat (82) drives the material seat (83) to reciprocate by 90 degrees.

3. The ingot stacking robot for aluminum ingot production according to claim 2, characterized in that: The crossbeam (3) extends from both sides of the top end of the column (2), and a counterweight (9) for balancing the clamping hand (6) is suspended at the end of the crossbeam (3).

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