Aluminum ingot direction-changing stacking mechanism and ingot stacking robot

Abstract

The present invention discloses an aluminum ingot direction-changing stacking mechanism and an ingot stacking robot thereof, wherein the aluminum ingot direction-changing stacking mechanism comprises: a mounting seat; a transfer seat, which is rotatably connected to the mounting seat, and the mounting seat is provided with a driving motor for driving the transfer seat to rotate relative to the mounting seat; two clamping seats, which are slidably connected to the transfer seat, and the transfer seat is provided with a driving mechanism for driving the two clamping seats to move synchronously in the opposite direction relative to the transfer seat; wherein grooves are provided on the opposite sides between the two clamping seats and form a receiving channel for guiding a plurality of aluminum ingots in the shape of trapezoidal columns to be arranged horizontally in a straight line in sequence to form an aluminum ingot stack, and the two clamping seats realize the vertical flipping of the aluminum ingot intervals in the aluminum ingot stack through a flipping mechanism. The present invention can achieve a layer-by-layer stacking effect in which the same layer of aluminum ingots are arranged in sequence in both positive and negative directions, and while reducing the space occupied by the aluminum ingot stack, it also improves the stability of its structure.

Description

Technical Field

[0001] The invention relates to the field of aluminum ingot production, and in particular to an aluminum ingot direction-changing stacking mechanism and an ingot stacking robot thereof. Background Art

[0002] The aluminum ingot casting process is mostly to inject aluminum liquid into the mold, and then take it out after cooling into a billet. The casting process is also the physical process of liquid aluminum crystallizing into solid aluminum. In the traditional aluminum ingot casting process, after the aluminum liquid flowing into the mold is completely solidified into an aluminum ingot, the aluminum ingot is demolded and falls onto the conveyor belt and is transported out in sequence. The method of manually removing the aluminum ingots from the conveyor belt and stacking them not only has high labor costs, but also has low efficiency in stacking ingots. At present, the stacking of ingots is mostly carried out by multi-axis robots, that is, a multi-axis robot equipped with a clamp removes the aluminum ingots from the conveyor belt in a clamping manner and then places them in a designated position in a stacked manner.

[0003] Since most aluminum ingots are in the shape of trapezoidal columns and are generally placed in a forward direction on the conveyor belt (to ensure the stability of the placement of the aluminum ingots), the aluminum ingots placed on the aluminum ingot stack by the multi-axis robot are also placed in a forward direction. This placement method not only occupies a large space for the aluminum ingot stack, increasing the cost of transportation, but the stacking structure of the aluminum ingot stack is also less stable due to the small contact area and large space between adjacent aluminum ingots on the same layer. During the handling and transportation of the aluminum ingot stack, the aluminum ingots shift, causing the aluminum ingot stack to tip over.

[0004] Although the existing aluminum ingot production line has a method of flipping the aluminum ingots on the conveyor line at intervals and then transferring a specific number of aluminum ingots through a multi-axis robot and stacking them, this method requires the use of a conveyor belt with an aluminum ingot flipping device. For the existing conventional aluminum ingot production line, the replacement cost of the conveyor belt is relatively high, and the aluminum ingot conveying efficiency will be affected to a certain extent due to the need to flip the aluminum ingots during transportation. Summary of the invention

[0005] The object of the present invention is to provide an aluminum ingot changing direction stacking mechanism and an ingot stacking robot thereof, which can achieve a layer-by-layer stacking effect in which the aluminum ingots of the same layer are arranged in sequence in front and back, while reducing the space occupied by the aluminum ingot stacking and improving the stability of the structure.

[0006] The technical solution adopted by the present invention to solve the above problems is:

[0007] An aluminum ingot direction-changing stacking mechanism, comprising:

[0008] Mounting seat;

[0009] The transfer seat is rotatably connected to the mounting seat, and the mounting seat is provided with a driving motor for driving the transfer seat to rotate relative to the mounting seat;

[0010] Two clamping seats are slidably connected to the transfer seat, the two clamping seats are arranged symmetrically relative to the transfer seat, and the transfer seat is provided with a driving mechanism for driving the two clamping seats to move synchronously in the opposite direction relative to the transfer seat;

[0011] Among them, grooves are provided on the opposite sides between the two clamping seats to form an accommodating channel for guiding a plurality of aluminum ingots in the shape of trapezoidal columns to be arranged horizontally in a straight line to form an aluminum ingot stack. When the aluminum ingot is located between the two clamping seats, the two ends of the aluminum ingot are respectively located in the two grooves. The two clamping seats realize the vertical flipping of the aluminum ingot intervals in the aluminum ingot stack through a flipping mechanism, and the transfer seat is provided with a pushing mechanism for pushing adjacent aluminum ingots against each other.

[0012] As a further improvement of the above technical solution, the driving mechanism includes a dual-axis motor, which is installed on the transfer seat. An L-shaped extension arm is integrally connected to the clamping seat. The clamping seat is slidably connected to the transfer seat through the extension arm. The two extension arms are respectively mounted on the two output shafts of the dual-axis motor in a threaded manner. Two parallel guide rods are provided on the transfer seat, and the two ends of the extension arm are respectively mounted on the two guide rods.

[0013] As a further improvement of the above technical solution, the flipping mechanism includes two flipping components, which are respectively arranged on two clamping seats and are symmetrically arranged relative to the transfer seat. The flipping component includes a number of flipping units. The clamping seat is provided with a number of placement grooves for the flipping units to be plugged in and installed. A through hole is provided on the end face of the inner end of the placement groove, which passes through the clamping seat. The through hole is connected to the groove and the through holes are arranged in a straight line with equal intervals. The groove forms a number of first accommodating grooves through the through hole. A rotating seat is rotatably connected in the through hole. The rotating seat is driven by external force to rotate relative to the clamping seat and a second accommodating groove is provided on it. The second accommodating groove is on the same straight line as the first accommodating groove and the maximum width of the two is the same as the maximum width of the aluminum ingot. The first accommodating grooves are connected through the second accommodating groove to form a groove. The clamping seat is provided with a driving device that drives the rotating seat to rotate relative to the clamping seat through the flipping unit.

[0014] As a further improvement of the above technical solution, the flip unit includes a main body seat and a docking shaft, one end of the docking shaft is rotatably connected to the main body seat and the other end can be inserted and clamped on the rotating seat, and the driving device and the docking shaft are connected by a transmission mechanism.

[0015] As a further improvement of the above technical solution, the transmission mechanism includes two sliding bars arranged in parallel, the sliding bars are slidably connected to the clamping seat, and the two sliding bars are driven by a driving device to achieve synchronous sliding in the same direction relative to the clamping seat. A plurality of first driving gears are rotatably connected to the clamping seat, and the first driving gears correspond to the placement grooves one by one. A toggle column is fixedly connected to the center position of both ends of the first driving gear, and the two toggle columns are arranged vertically. The two sliding bars are symmetrically arranged relative to the first driving gear. The sliding bar is provided with a driving column for pushing the toggle column from a vertical state to a horizontal state. The driving columns on the two sliding bars are on the same horizontal plane and the corresponding two driving columns are staggered. A second driving gear is provided on the docking shaft, and the second driving gear can mesh with the first driving gear. The diameter of the first driving gear is twice the diameter of the second driving gear.

[0016] As a further improvement of the above technical solution, locking columns are connected at two relative positions on the through hole in a radial sliding manner along the through hole, and a spring is provided between the inner end of the locking column and the clamping seat, and the two ends of the spring are respectively against the inner end of the locking column and the clamping seat, the outer end of the locking column is located in the through hole and its end face is hemispherical, and a locking groove for accommodating the outer end of the locking column is provided on the side of the rotating seat, and the locking groove is hemispherical.

[0017] As a further improvement of the above technical solution, the adjacent placement grooves are in contact and connected to form an installation groove, a slot is provided on the left end of the main seat and the right end of the installation groove, the cross-section of the slot is trapezoidal, and an insert block adapted to the slot is provided on the right end of the main seat and the left end of the installation groove, and a flip cover is provided on the entrance of the installation groove.

[0018] As a further improvement of the above technical solution, the pushing mechanism includes a sliding seat and a rotating block. The sliding seat is slidably arranged on the clamping seat along the moving direction of the aluminum ingot entering the accommodating channel. The clamping seat is provided with a linear driving device for driving the sliding seat to slide relative to the clamping seat. The top end of the rotating block is hinged to the sliding seat and its bottom end is located on the moving trajectory of the aluminum ingot entering the accommodating channel. The sliding seat is provided with a slot for accommodating the rotating block, and the angle range between the rotating block and the sliding seat is 0-90°.

[0019] As a further improvement of the above technical solution, an inclined surface structure is provided on the inner end of the bottom end of the rotating block, and the inclination degree of the inclined surface structure is the same as the inclination degree of the side surface of the aluminum ingot.

[0020] The present invention also provides an aluminum ingot stacking robot, comprising:

[0021] Multi-axis robots;

[0022] The structure of the transfer platform is the same as that of the aluminum ingot changing and stacking mechanism described in any of the above technical solutions. The transfer platform is rotatably connected to the articulated arm at the end of the multi-axis robot, and the articulated arm is provided with a motor for driving the transfer platform to rotate relative to the articulated arm.

[0023] Compared with the prior art, the present invention has the following advantages and effects:

[0024] (1) The present invention ensures the effect of the device on the collection and release of aluminum ingots by driving the two clamping seats through the driving mechanism. The coordinated arrangement of the structural flipping mechanism and the pushing mechanism realizes the effect of the device flipping the intervals between the aluminum ingots after collecting them, so that the aluminum ingots in the aluminum ingot stack can be arranged in sequence in a positive and negative manner, while reducing the movable space between adjacent aluminum ingots and increasing the contact area between the two, reducing the space occupied by the aluminum ingot stack and improving its structural stability.

[0025] (2) As an external device on an aluminum ingot production line, the present invention can achieve a layer-by-layer stacking effect of arranging aluminum ingots in the same layer in reverse order without replacing equipment on the aluminum ingot production line, thereby reducing the optimization cost of the aluminum ingot production line and increasing the scope of application of the device.

[0026] (3) The present invention coordinates the driving mechanism and the pushing mechanism so that the transfer platform can meet the needs of transferring and stacking aluminum ingots of different lengths, thereby expanding the application scope of the device and ensuring the utilization rate of the device.

[0027] (4) The present invention realizes that the upper and lower layers of aluminum ingots can be placed in a cross-shaped manner through the driving effect of the driving motor on the transfer seat, thereby improving the stability of the aluminum ingot stacking structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of an aluminum ingot stacking robot in use state according to the present invention.

[0029] Figure 2 yes Figure 1 The structural schematic diagram of the transfer platform from perspective one is shown in FIG.

[0030] Figure 3 yes Figure 2 The structural schematic diagram of the transfer platform from perspective one is shown in FIG.

[0031] Figure 4 yes Figure 3 Schematic diagram of the partial structure inside the transfer seat shown in.

[0032] Figure 5 yes Figure 3 The schematic cross-sectional view of the structure of the transfer seat from perspective one is shown in FIG.

[0033] Figure 6 yes Figure 3 The schematic cross-sectional view of the structure of the transfer seat from perspective 2 is shown in FIG.

[0034] Figure 7 yes Figure 5 A schematic enlarged view of the local structure of the pushing mechanism shown in FIG.

[0035] Figure 8 yes Figure 6 A schematic diagram of the local structure of the clamping seat from perspective one is shown in FIG.

[0036] Fig. 9 yes Figure 8 The schematic diagram of the structure placed in the slot is shown in .

[0037] Fig.10 yes Figure 8 Schematic diagram of the structure of the flip unit shown in .

[0038] Fig.11 yes Figure 6 A schematic diagram of the partial structure of the clamping seat from the second perspective is shown in FIG.

[0039] Fig.12 yes Figure 6 A schematic diagram of the partial structure of the clamping seat from perspective three is shown in FIG.

[0040] Fig.13 yes Fig.12 The structural schematic diagram of the transmission mechanism is shown in .

[0041] Fig.14 yes Fig.11 A schematic cross-sectional view of the structure between the rotating seat and the clamping seat is shown in FIG.

[0042] Fig.15 It is a structural schematic diagram of the first arrangement state of aluminum ingots on an aluminum ingot stacking robot of the present invention.

[0043] Fig.16 It is a structural schematic diagram of the second aluminum ingot arrangement state on an aluminum ingot stacking robot of the present invention.

[0044] Fig.17 It is a structural schematic diagram of aluminum ingot arrangement state three on an aluminum ingot stacking robot of the present invention.

[0045] Among them, the multi-axis robot 1, the articulated arm 11, the motor 12, the transfer platform 2, the mounting seat 21, the transfer seat 22, the clamping seat 23, the drive motor 24, the groove 25, the accommodating channel 26, the drive mechanism 3, the dual-axis motor 31, the extension arm 32, the guide rod 33, the pushing mechanism 4, the sliding seat 41, the rotating block 42, the linear drive device 43, the slot 44, the inclined surface structure 45, the flipping mechanism 5, the flipping assembly 51, the flipping unit 52, the placement slot 5 3, through hole 54, first accommodating groove 55, rotating seat 56, second accommodating groove 57, driving device 58, roller 59, main body seat 61, docking shaft 62, transmission mechanism 63, sliding bar 64, first driving gear 65, toggle column 66, driving column 67, second driving gear 68, installation groove 71, slot 72, plug block 73, flip cover 74, protrusion 75, locking column 81, spring 82, locking groove 83, aluminum ingot 91, aluminum ingot stack 92. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0047] See also Figure 1-Figure 17 The present embodiment is an aluminum ingot stacking robot, comprising a multi-axis robot 1 and a transfer platform 2, wherein the transfer platform 2 is rotatably connected to an articulated arm 11 at the end of the multi-axis robot 1, and the articulated arm 11 is provided with a motor 12 for driving the transfer platform 2 to rotate relative to the articulated arm 11.

[0048] The transfer platform 2 includes a mounting seat 21, a transfer seat 22 and two clamping seats 23. The mounting seat 21 is rotatably connected to the articulated arm 11, and the transfer seat 22 is rotatably connected to the mounting seat 21. The mounting seat 21 is provided with a driving motor 24 for driving the transfer seat 22 to rotate relative to the mounting seat 21. The two clamping seats 23 are symmetrically arranged relative to the transfer seat 22. The clamping seats 23 are slidably connected to the transfer seat 22. The transfer seat 22 is provided with a driving motor 24 for driving the two clamping seats 23 to move synchronously in the opposite direction relative to the transfer seat 22. The transfer seat 22 is provided with a pushing mechanism 4 for pushing adjacent aluminum ingots in the accommodating channel 26 against each other. When the aluminum ingot is located between the two clamping seats 23, the two ends of the aluminum ingot are respectively located in the two grooves 25. The two clamping seats 23 realize the vertical flipping of the aluminum ingot intervals in the aluminum ingot stack through the flipping mechanism 5.

[0049] When in use, the transfer platform 2 is moved to the aluminum ingot conveyor belt by the multi-axis robot 1, and the driving motor 24 drives the rotating seat 56 so that the entrance of the accommodating channel 26 is located on the conveying track of the aluminum ingot. In this process, the motor 12 drives the transfer platform 2 so that the accommodating channel 26 and the conveyor belt remain parallel. Subsequently, according to the length of the aluminum ingot, the driving mechanism 3 drives the two clamping seats 23 to move synchronously in opposite directions to adjust the distance between the two clamping seats 23, thereby ensuring that the two ends of the aluminum ingot can respectively enter the grooves 25 on the two clamping seats 23 during the conveying process.

[0050] When a certain number of aluminum ingots are contained in the accommodating channel 26, the aluminum ingots in the accommodating channel 26 are pushed by the pushing mechanism 4 so that the adjacent aluminum ingots are in contact with each other (e.g. Fig.15 ), and then the transfer platform 2 is moved from the aluminum ingot conveyor belt to the aluminum ingot placement rack by the multi-axis robot 1, and in the process, the aluminum ingot intervals in the receiving channel 26 are flipped by the flip mechanism 5 (as shown in FIG. Fig.16 ), and after the turning operation is completed, the aluminum ingots in the receiving channel 26 are pushed again by the pushing mechanism 4 so that adjacent aluminum ingots are in contact with each other to form an aluminum ingot stack (as shown in FIG. Fig.17 ).

[0051] After the transfer platform 2 is moved to the aluminum ingot placement rack, the aluminum ingot stack in the accommodating channel 26 is placed flat on the aluminum ingot placement rack by the multi-axis robot 1, and then the two clamping seats 23 are reset by the driving mechanism 3 to separate the transfer platform 2 and the aluminum ingot stack. Subsequently, the transfer platform 2 is moved to the aluminum ingot conveyor belt by the multi-axis robot 1 again to store the aluminum ingots and form an aluminum ingot stack, and then the aluminum ingot stack is placed on the topmost aluminum ingot stack on the aluminum ingot placement rack in a cross-shaped manner.

[0052] See also Figure 4-Figure 6 The driving mechanism 3 includes a dual-axis motor 31, which is installed on the transfer seat 22. An L-shaped extension arm 32 is integrally connected to the clamping seat 23, ensuring the height setting between the clamping seat 23 and the transfer seat 22, thereby ensuring the formation of the accommodating channel 26. The clamping seat 23 is slidably connected to the transfer seat 22 through the extension arm 32. The two extension arms 32 are respectively mounted on the two output shafts of the dual-axis motor 31 in a threaded manner. The transfer seat 22 is provided with two parallel guide rods 33, and the two ends of the extension arm 32 are respectively mounted on the two guide rods 33, ensuring the stability of the clamping seat 23 sliding relative to the transfer seat 22.

[0053] See also Figure 6 , Figure 7The pushing mechanism 4 includes a sliding seat 41 and a rotating block 42. The sliding seat 41 is slidably arranged on the clamping seat 23 along the moving direction of the aluminum ingot entering the accommodating channel 26. The clamping seat 23 is provided with a linear driving device 43 for driving the sliding seat 41 to slide relative to the clamping seat 23. The top end of the rotating block 42 is hinged on the sliding seat 41 and its bottom end is located on the moving trajectory of the aluminum ingot entering the accommodating channel 26. The sliding seat 41 is provided with a slot 44 for accommodating the rotating block 42. The angle between the rotating block 42 and the sliding seat 41 ranges from 0 to 90°.

[0054] During the process of the aluminum ingot entering the accommodating channel 26, the aluminum ingot can contact and resist the rotating block 42, causing the rotating block 42 to flip upward. After the aluminum ingot enters the accommodating channel 26, the resisting state between the aluminum ingot and the rotating block 42 is released, causing the rotating block 42 to flip downward and reset under the action of gravity.

[0055] When the set number of aluminum ingots in the accommodating channel 26 is reached, the sliding seat 41 is driven by the linear drive device 43, so that the sliding seat 41 can drive the rotating block 42 to slide together, and since the sliding seat 41 restricts the rotation of the rotating block 42, the sliding seat 41 can resist and push the aluminum ingots in the accommodating channel 26 through the rotating block 42 to contact in sequence, thereby ensuring the accuracy of the position of the aluminum ingots in the accommodating channel 26 and ensuring the subsequent flipping operation of the aluminum ingots.

[0056] In this embodiment, the linear drive device 43 uses two linear modules, and the two linear modules are symmetrically arranged relative to the transfer seat 22. The two ends of the sliding seat 41 are detachably mounted on the slides of the two linear modules.

[0057] See also Figure 7 A slope structure 45 is provided on the inner end of the bottom end of the rotating block 42. The inclination degree of the slope structure 45 is the same as the inclination degree of the side surface of the aluminum ingot, thereby ensuring the contact effect between the rotating block 42 and the aluminum ingot, thereby ensuring that the sliding seat 41 pushes the aluminum ingot in the accommodating channel 26 via the rotating block 42.

[0058] See also Figure 8-Figure 13The flip mechanism 5 includes two flip assemblies 51, which are respectively arranged on two clamping seats 23 and are symmetrically arranged relative to the transfer seat 22. The flip assembly 51 includes a plurality of flip units 52. The clamping seat 23 is provided with a plurality of placement grooves 53 for inserting and installing the flip units 52. A through hole 54 is provided on the end surface of the inner end of the placement groove 53, which penetrates the clamping seat 23 and is connected to the groove 25. The through holes 54 are arranged in a straight line with equal spacing. The groove 25 forms a plurality of first A receiving groove 55 is provided, and a rotating seat 56 is rotatably connected in the through hole 54. The rotating seat 56 is driven by an external force to rotate relative to the clamping seat 23 and a second receiving groove 57 is provided thereon. The second receiving groove 57 is on the same straight line as the first receiving groove 55 and the maximum width of the two is the same as the maximum width of the aluminum ingot. A plurality of first receiving grooves 55 are connected through the second receiving groove 57 to form a groove 25. The clamping seat 23 is provided with a driving device 58 for driving the rotating seat 56 to rotate relative to the clamping seat 23 through a flip unit 52. Through the installable arrangement of the flip unit 52 on the clamping seat 23, the number of flip units 52 on the clamping seat 23 can be adjusted based on the number of transfers of the transfer platform 2 determined by the length of the aluminum ingot (i.e., to ensure that the aluminum ingots can be placed in a square aluminum ingot stack), and while ensuring the interval flipping of the aluminum ingots in the aluminum ingot stack, the weight of the transfer platform 2 can also be reduced, thereby reducing the operating burden of the multi-axis robot 1.

[0059] Among them, the flip unit 52 includes a main base 61 and a docking shaft 62, one end of the docking shaft 62 is rotatably connected to the main base 61 and the other end can be inserted and clamped on the rotating base 56, and the driving device 58 and the docking shaft 62 are connected by a transmission mechanism 63.

[0060] The transmission mechanism 63 includes two parallel sliding bars 64, which are slidably connected to the clamping seat 23. The two sliding bars 64 are synchronously slid in the same direction relative to the clamping seat 23 through the driving device 58. The clamping seat 23 is rotatably connected with a plurality of first driving gears 65 arranged at equal intervals. The first driving gears 65 correspond to the placement grooves 53 one by one. The center positions of both ends of the first driving gear 65 are fixedly connected with toggle columns 66. The two toggle columns 66 are arranged vertically. The two sliding bars 64 are symmetrically arranged with respect to the first driving gear 65. The sliding bars 64 are provided with driving columns 67 for pushing the toggle columns 66 from a vertical state to a horizontal state. The driving columns 67 on the two sliding bars 64 are on the same horizontal plane and the corresponding two driving columns 67 are staggered. A second driving gear 68 is provided on the docking shaft 62. The second driving gear 68 can mesh with the first driving gear 65. The diameter of the first driving gear 65 is twice the diameter of the second driving gear 68.

[0061] When the aluminum ingot interval in the accommodating channel 26 is turned over, the two clamping seats 23 drive the two sliding bars 64 thereon through the driving device 58, so that the two sliding bars 64 slide synchronously in the same direction, and in this process, the driving column 67 on one of the sliding bars 64 abuts against the corresponding toggle column 66 and changes it from a vertical state to a horizontal state, so as to drive the first driving gear 65 to rotate 90° and also drive the second driving gear 68 to rotate 180°, so that the rotating seat 56 rotates 180° relative to the clamping seat 23, thereby realizing that the two corresponding rotating seats 56 on the two clamping seats 23 are located The aluminum ingots on the rotating seat 56 are turned over, and at this time, another toggle column 66 on the first driving gear 65 changes from a horizontal state to a vertical state. When the transfer platform 2 completes the placement of the aluminum ingot stack in the accommodating channel 26 and re-accommodates a specific number of aluminum ingots, the two sliding bars 64 are driven to reset through the driving device 58, so that the driving column 67 on the other sliding bar 64 resists and pushes the toggle column 66 in the vertical state to become a horizontal state, thereby realizing the rotation of the rotating seat 56 by 180° relative to the clamping seat 23, so as to achieve the purpose of turning over the aluminum ingots on the rotating seat 56 in the two processes of the reciprocating movement of the two sliding bars 64.

[0062] In this embodiment, the driving device 58 is a double-rod cylinder, and the two sliding bars 64 are symmetrically arranged relative to the double-rod cylinder. The two sliding bars 64 are respectively connected to the two ends of the sliding plate of the double-rod cylinder.

[0063] See also Figure 8-Figure 10 The adjacent placement grooves 53 are in contact and connected to form installation grooves 71. A slot 72 is provided on the left end of the main body seat 61 and the right end of the installation groove 71. The cross-section of the slot 72 is trapezoidal. The right end of the main body seat 61 and the left end of the installation groove 71 are provided with an insert block 73 adapted to the slot 72, so that the plurality of flip units 52 in the installation groove 71 can be connected together, thereby facilitating the processing of the placement groove 53 on the clamping seat 23 while also ensuring the stability of the installation of the flip unit 52 on the clamping seat 23. A flip cover 74 is provided on the entrance of the installation groove 71, and a plurality of protrusions 75 for resisting the main body seat 61 are provided on the flip cover 74. While facilitating the installation of the flip unit 52 on the clamping seat 23, the stability of the installation position of the flip unit 52 in the installation groove 71 is also ensured, thereby ensuring the smoothness of the subsequent aluminum ingot flipping operation.

[0064] See also Fig.11 A plurality of rollers 59 are embedded on the bottom surface of the first receiving groove 55 and the top and bottom surfaces of the second receiving groove 57, which reduces the sliding difficulty of the aluminum ingot in the receiving channel 26 and ensures the effect of the pushing mechanism 4 on pushing the aluminum ingot in the receiving channel 26.

[0065] See also Fig.14The two relative positions on the through hole 54 are both connected with locking columns 81 in a radial sliding manner along the through hole 54. A spring 82 is provided between the inner end of the locking column 81 and the clamping seat 23. The two ends of the spring 82 respectively abut against the inner end of the locking column 81 and the clamping seat 23. The outer end of the locking column 81 is located in the through hole 54 and its end face is hemispherical. A locking groove 83 for accommodating the outer end of the locking column 81 is provided on the side of the rotating seat 56. The locking groove 83 is hemispherical, which ensures the switching between relative rotation and relative stillness between the rotating seat 56 and the clamping seat 23. While ensuring the stability of the groove 25 structure, it also ensures that the subsequent rotating seat 56 rotates relative to the clamping seat 23 to achieve the effect of flipping the aluminum ingot.

[0066] The above contents described in this specification are merely examples of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, as long as they do not deviate from the contents of the present specification or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. An aluminum ingot stacking mechanism, characterized in that: include: Mounting seat; The transfer seat is rotatably connected to the mounting seat, and the mounting seat is provided with a driving motor for driving the transfer seat to rotate relative to the mounting seat; Two clamping seats are slidably connected to the transfer seat, the two clamping seats are arranged symmetrically relative to the transfer seat, and the transfer seat is provided with a driving mechanism for driving the two clamping seats to move synchronously in the opposite direction relative to the transfer seat; Wherein, grooves are provided on the opposite sides between the two clamping seats to form a receiving channel for guiding a plurality of aluminum ingots in the shape of trapezoidal columns to be arranged horizontally in a straight line in sequence to form an aluminum ingot stack. When the aluminum ingot is located between the two clamping seats, the two ends of the aluminum ingot are respectively located in the two grooves. The two clamping seats realize the vertical flipping of the intervals of the aluminum ingots in the aluminum ingot stack through a flipping mechanism. The transfer seat is provided with a pushing mechanism for pushing adjacent aluminum ingots against each other. The flipping mechanism includes two flipping components, which are respectively arranged on two clamping seats and are symmetrically arranged relative to the transfer seat. The flipping component includes several flipping units. The clamping seat is provided with several placement grooves for the flipping units to be plugged in and installed. A through hole is provided on the end surface of the inner end of the placement groove, which passes through the clamping seat. The through hole is connected to the groove and the through holes are arranged in a straight line with equal intervals. The groove forms several first accommodating grooves through the through hole. A rotating seat is rotatably connected in the through hole. The rotating seat is driven by external force to rotate relative to the clamping seat and is provided with a second accommodating groove. The second accommodating groove is on the same straight line as the first accommodating groove and the maximum width of the two is the same as the maximum width of the aluminum ingot. Several first accommodating grooves are connected through the second accommodating groove to form a groove. The clamping seat is provided with a driving device that drives the rotating seat to rotate relative to the clamping seat through the flipping unit.

2. The aluminum ingot direction-changing stacking mechanism according to claim 1, characterized in that: The driving mechanism includes a dual-axis motor, which is installed on a transfer seat. An L-shaped extension arm is integrally connected to the clamping seat. The clamping seat is slidably connected to the transfer seat through the extension arm. The two extension arms are respectively mounted on the two output shafts of the dual-axis motor in a threaded manner. The transfer seat is provided with two parallel guide rods, and the two ends of the extension arm are respectively mounted on the two guide rods.

3. The aluminum ingot direction-changing stacking mechanism according to claim 1, characterized in that: The flip unit comprises a main body seat and a docking shaft, one end of the docking shaft is rotatably connected to the main body seat and the other end of the docking shaft can be inserted and clamped on the rotating seat, and the driving device and the docking shaft are connected by a transmission mechanism.

4. The aluminum ingot direction-changing stacking mechanism according to claim 3 is characterized in that: The transmission mechanism includes two sliding bars arranged in parallel, the sliding bars are slidably connected to the clamping seat, and the two sliding bars are driven by a driving device to achieve synchronous sliding in the same direction relative to the clamping seat. The clamping seat is rotatably connected to a plurality of first driving gears, and the first driving gear corresponds to the placement groove one by one. A toggle column is fixedly connected to the center position of both ends of the first driving gear, and the two toggle columns are arranged vertically. The two sliding bars are symmetrically arranged relative to the first driving gear. The sliding bar is provided with a driving column for pushing the toggle column from a vertical state to a horizontal state. The driving columns on the two sliding bars are on the same horizontal plane and the corresponding two driving columns are staggered. A second driving gear is provided on the docking shaft, and the second driving gear can mesh with the first driving gear. The diameter of the first driving gear is twice the diameter of the second driving gear.

5. The aluminum ingot direction-changing stacking mechanism according to claim 1, characterized in that: Two relative positions on the through hole are connected with locking columns in a radial sliding manner along the through hole. A spring is provided between the inner end of the locking column and the clamping seat. The two ends of the spring respectively abut against the inner end of the locking column and the clamping seat. The outer end of the locking column is located in the through hole and its end face is hemispherical. A locking groove for accommodating the outer end of the locking column is provided on the side of the rotating seat, and the locking groove is hemispherical.

6. The aluminum ingot direction-changing stacking mechanism according to claim 3, characterized in that: The adjacent placement grooves are in contact and connected to form an installation groove. A slot is provided on the left end of the main seat and the right end of the installation groove. The cross-section of the slot is trapezoidal. An insert block matching the slot is provided on the right end of the main seat and the left end of the installation groove. A flip cover is provided on the entrance of the installation groove.

7. The aluminum ingot direction-changing stacking mechanism according to claim 1, characterized in that: The pushing mechanism includes a sliding seat and a rotating block. The sliding seat is slidably arranged on the clamping seat along the moving direction of the aluminum ingot entering the accommodating channel. The clamping seat is provided with a linear driving device for driving the sliding seat to slide relative to the clamping seat. The top end of the rotating block is hinged to the sliding seat and its bottom end is located on the moving trajectory of the aluminum ingot entering the accommodating channel. The sliding seat is provided with a slot for accommodating the rotating block, and the angle range between the rotating block and the sliding seat is 0-90°.

8. The aluminum ingot direction-changing stacking mechanism according to claim 7, characterized in that: An inclined surface structure is arranged on the inner end of the bottom end of the rotating block, and the inclination degree of the inclined surface structure is the same as the inclination degree of the side surface of the aluminum ingot.

9. An aluminum ingot stacking robot, characterized in that: include: Multi-axis robots; The structure of the transfer platform is the same as that of the aluminum ingot changing and stacking mechanism described in any one of claims 1 to 8. The transfer platform is rotatably connected to the articulated arm at the end of the multi-axis robot, and the articulated arm is provided with a motor for driving the transfer platform to rotate relative to the articulated arm.

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