A magnesium ingot handling clamp

Abstract

This invention provides a magnesium ingot handling fixture, relating to the field of magnesium ingot transfer technology. It includes a robotic arm, a clamping platform, and a clamping plate, driven by a drive mechanism. A limiting groove is formed on the clamping plate, within which a slider is installed. Guide rods are inclinedly provided on both side walls of the limiting groove. Inclined grooves are provided on both sides of the slider, and a sliding groove is formed on the upper end face of the slider. A sliding rod is slidably mounted within the sliding groove and connected to a lifting rod slidably mounted on the clamping plate. The lifting rod is driven by a linear actuator. A clamping plate is slidably mounted on the slider, and a clamping spring connects the clamping plate and the slider. An inclined surface is provided on the clamping plate. The two clamping plates of this invention are slidably engaged with the ends of the magnesium ingot. The inclined surfaces of the clamping plates make surface contact with the ends of the magnesium ingot. Simultaneously, under the action of the clamping spring force, it facilitates the slow descent of the magnesium ingot, reducing the impact on the lower layer of magnesium ingots or the stacking platform caused by rapid descent, thereby reducing the phenomenon of uneven magnesium ingot stacking.

Description

Technical Field

[0001] This invention relates to the field of magnesium ingot transfer technology, and specifically to a magnesium ingot handling clamp. Background Technology

[0002] Magnesium ingots are bulk metallic materials made primarily of magnesium through smelting and processing. They are used in aerospace, automotive manufacturing, 3C electronics, and energy storage materials. Trapezoidal magnesium ingots are a type of magnesium ingot with a trapezoidal cross-section. In practical applications, trapezoidal magnesium ingots can be processed into trapezoidal magnesium anodes for cathodic protection. As sacrificial anodes, these anodes are connected to the structure to be protected via a metal conductor, providing electrons to the protected structure to achieve a protective effect. They are suitable for oil, gas, and water supply pipelines in soil environments, as well as harbors and ships in water environments.

[0003] After production, magnesium ingots need to be stacked and stored. Existing equipment transports cooled and solidified magnesium ingots to the stacking area via a conveyor chain, uses a robotic arm to pick up multiple magnesium ingots at a time, and then places the magnesium ingots in a designated area for stacking in a whole layer.

[0004] For example, patent document CN119079577B discloses a magnesium alloy ingot palletizing robot. This robot includes a robotic arm with a support plate connected to its end. Two opposing sidewalls of the support plate are each connected to a horizontal clamping plate for holding the magnesium ingots. Each horizontal clamping plate has a cylinder connected to its side near the support plate, which drives the clamping plate to hold the magnesium ingot. A linkage assembly is connected to one side of the cylinder, driving the piston rod of the cylinder to move. When magnesium ingots need to be clamped, the robotic arm moves the support plate to the top of the desired ingot, and then the linkage assembly, via the cylinder, drives the horizontal clamping plate to clamp multiple ingots, thus enabling the simultaneous clamping of multiple magnesium ingots.

[0005] When the robot stacks magnesium ingots, after moving the ingots into position, the horizontal clamps on both sides of the ingots release, allowing the ingots to fall under their own weight. However, because there is a gap between the lower surface of the ingot and the upper surface of the lower ingot or the stacking platform, an impact force is generated when the ingot falls and contacts the lower ingot or the stacking platform. This collision causes the ingot to slide or bounce, resulting in misalignment after falling and causing uneven stacking, thus affecting the quality of the stacking. Summary of the Invention

[0006] In view of this, the present invention provides a magnesium ingot handling fixture to solve the technical problem in the prior art where magnesium ingots collide with the magnesium ingots below or the stacking platform when falling, causing the magnesium ingots to deviate after falling, resulting in uneven stacking.

[0007] To solve the above-mentioned technical problems, the present invention provides a magnesium ingot handling fixture, including a robotic arm, a clamping platform disposed at the end of the robotic arm, and clamping plates disposed on both sides of the clamping platform. The clamping plates are driven by a drive mechanism. Multiple limiting grooves are provided below the clamping plates, and sliders are provided in the limiting grooves. Guide rods are inclinedly provided on both side walls of the limiting grooves. Inclined grooves that slide with the guide rods are provided on both sides of the sliders. An inverted T-shaped sliding groove is provided on the upper end face of the slider. The length direction of the sliding groove is parallel to the length direction of the magnesium ingot. A sliding rod is slidably disposed in the sliding groove. The sliding rod is connected to a lifting rod slidably disposed on the clamping plate. The lifting rod is driven by a linear actuator.

[0008] A clamping plate is slidably provided on the end of the slider near the magnesium ingot. A clamping plate spring is connected between the clamping plate and the slider. An inclined surface that slides with the magnesium ingot is provided on the end of the clamping plate near the magnesium ingot.

[0009] By adopting the above technical solution, after the robotic arm moves into position, the drive mechanism drives the two clamping plates to move closer to each other. The two clamping plates are located at both ends of the magnesium ingot and perform preliminary centering and clamping of the magnesium ingot, which is conducive to the stable clamping of the subsequent clamping.

[0010] Then, the linear actuator activates, driving the lifting rod to move upwards. The lifting rod is connected to the sliding rod; as the lifting rod moves upwards, the sliding rod also rises. A slider is connected to the sliding rod, and the slider and sliding rod have a sliding engagement relationship; therefore, the slider moves upwards along with the sliding rod.

[0011] The slider and the limiting groove employ a unique sliding fit structure, specifically a combination of an inclined groove and a guide rod. This fit allows for tilting and sliding between the two as the slider slides within the limiting groove. Due to the sliding fit characteristics between the slider and the guide rod, the slider not only moves vertically during its ascent but also simultaneously moves horizontally towards the end of the magnesium ingot.

[0012] A clamping plate is mounted on the slider. As the slider moves, the clamping plate also moves towards the end of the magnesium ingot. The two clamping plates slide against both ends of the magnesium ingot, and the spring force provided by the clamping plate springs allows the magnesium ingot to be slowly centered during clamping and eventually held stably. This slow centering method helps reduce damage to the surface of the magnesium ingot caused by rapid clamping and also improves the clamping accuracy.

[0013] After the robotic arm completes gripping the magnesium ingot, it transfers it to the designated location. Once the robotic arm reaches the designated position, the linear actuator restarts, this time driving the lifting rod downwards. As the lifting rod moves downwards, the sliding rod, slider, and clamping plate also move downwards. During the descent, due to the cooperation between the slider, the limiting groove, and the sliding rod, the slider moves towards the side away from the end of the magnesium ingot while moving downwards.

[0014] The two clamps maintain a sliding fit with both ends of the magnesium ingot. The inclined surfaces of the clamps make surface contact with the ends of the magnesium ingot. Under the action of the clamp spring force, the magnesium ingot falls slowly, thus placing it stably in the target position. This reduces the impact on the lower magnesium ingots or the stacking platform caused by rapid falling, thereby reducing the offset of the magnesium ingot after falling and reducing the phenomenon of uneven stacking of magnesium ingots, which helps to improve the stability of stacking.

[0015] Preferably, a second linear driver is provided below the clamping platform, and a pressure plate is provided at the output end of the second linear driver. The pressure plate is located between the two clamping plates, and the length direction of the pressure plate is perpendicular to the length direction of the magnesium ingot.

[0016] By adopting the above technical solution, during the clamping process of the magnesium ingot, two clamping plates clamp the magnesium ingot from both ends, mainly restricting its horizontal movement. Meanwhile, the linear actuator 2 drives the pressure plate to descend, applying pressure directly to the magnesium ingot from above, thus fixing it vertically as well. In this way, the magnesium ingot is well constrained in three-dimensional space, which helps reduce swaying or displacement caused by vibration, inertia, and other factors during transport, thereby improving clamping stability. In the initial clamping stage, the pressure plate can descend slowly, working together with the clamping plates to guide the magnesium ingot towards the preset center position, facilitating precise alignment.

[0017] Preferably, the lower end of the pressure plate is provided with multiple pressure rods, and a pressure rod spring is connected between the pressure rod and the pressure plate. The end of the pressure rod is rotatably connected with a ball head.

[0018] By employing the above technical solution, the pressure bar spring acts as a buffer against pressure. When the pressure plate descends and applies pressure to the magnesium ingot, the pressure bar spring can elastically deform according to factors such as the hardness and shape of the magnesium ingot surface. This helps reduce the damage to the magnesium ingot surface caused by excessive pressure applied by the ball joint. The rotating connection design of the ball joint ensures that the contact between the pressure bar and the magnesium ingot surface is rolling friction, rather than sliding friction. The lower frictional force of rolling friction helps reduce the scratching of the magnesium ingot surface caused by direct contact between the magnesium ingot and the pressure bar during the clamping and alignment process, thus helping to protect the integrity of the magnesium ingot surface.

[0019] Preferably, the output end of the linear driver is connected to a lifting plate, and multiple lifting rods are connected to the lifting plate.

[0020] By adopting the above technical solution, the linear actuator drives the lifting plate to rise and fall, which in turn drives multiple lifting rods to rise and fall synchronously, thereby achieving the clamping or releasing of the magnesium ingot by the clamping plate. The synchronous movement of the lifting plate and multiple lifting rods reduces the number of drive devices required to directly drive each lifting rod. The multiple lifting rods are connected into a whole by the lifting plate, which helps improve the overall integrity and stability of the structure. During the lifting process, the individual lifting rods can work together to share the load, which helps reduce structural deformation or damage caused by uneven stress on individual lifting rods.

[0021] Preferably, a sliding rod is connected to the end of the clamp plate away from the magnesium ingot. The axis of the sliding rod is parallel to the length direction of the magnesium ingot. The sliding rod is slidably connected to the slider, and the clamp plate spring is sleeved on the sliding rod.

[0022] By adopting the above technical solution, the axis of the sliding rod is parallel to the length direction of the magnesium ingot. This layout enables the entire clamping structure to form a stable support system along the length of the magnesium ingot. The slider drives the sliding rod and clamping mechanism to move, and the two clamping plates at both ends of the magnesium ingot move closer to each other, thus clamping the magnesium ingot.

[0023] Preferably, the guide rod on the side wall of the limiting groove slopes from top to bottom from the end closest to the magnesium ingot to the end furthest from the magnesium ingot, and the slope angle of the groove is equal to the slope angle of the guide rod.

[0024] By adopting the above technical solution, the inclined guide rod and sloping groove design allow the clamping force to be distributed along a specific direction when the clamping plate holds the magnesium ingot. As the slider moves upward, it moves closer to the magnesium ingot, and the clamping plate clamps the ingot. When the slider moves downward, it moves away from the ingot, and the clamping plate releases its grip. During clamping and releasing of the magnesium ingot, the inclined surface of the clamping plate slides against both ends of the ingot, which helps improve the stability of the magnesium ingot clamping.

[0025] Preferably, the two end faces of the magnesium ingot near the clamping plate approach each other from top to bottom, and the inclined surface on the clamping plate slopes from top to bottom toward the side closest to the magnesium ingot.

[0026] By adopting the above technical solution, the inclined surface of the clamping plate and both ends of the magnesium ingot are in a sliding engagement. This inclined engagement design provides reliable clamping force, which helps to reduce positional deviations caused by clamping instability and makes the clamping force more evenly distributed on the end face of the magnesium ingot. The inclined contact surface can also reduce the concentration of clamping force in local areas, thereby reducing the possibility of deformation or damage to the magnesium ingot caused by stress concentration.

[0027] Preferably, the slider has two sliding rods slidably connected to it, and the ends of the two sliding rods are connected to the clamps. A pair of clamps are provided on both sides of the magnesium ingot.

[0028] By adopting the above technical solution, each side of the magnesium ingot has a pair of clamps, which effectively supports and fixes the magnesium ingot from multiple points, restricting its movement in all directions and reducing the likelihood of swaying, shifting, or falling off during transport. Two sliding rods on the slider are connected to the clamps, which helps to ensure a more balanced and stable clamping force on the magnesium ingot during clamping.

[0029] Preferably, two linear actuators and two pressure plates are provided, and the number of pressure bars set on each pressure plate is the same as the number of magnesium ingots.

[0030] By adopting the above technical solution, equipped with two linear actuators and two pressure plates, the system is able to process multiple magnesium ingots in parallel. Multiple pressure bars on the two pressure plates contact each magnesium ingot and restrict its vertical movement, which helps reduce the likelihood of the ingots swaying, shifting, or falling off during transport.

[0031] Preferably, the drive mechanism includes clamping arms hinged to both sides of the clamping platform and a drive component that drives the two clamping arms to move closer or further apart, with clamping plates mounted on the clamping arms.

[0032] By adopting the above technical solution, two driving components drive the two clamping arms to move, causing the two clamping arms to move closer or further apart, thereby achieving the initial clamping or release of the magnesium ingot by the clamping plate. The two clamping arms form a symmetrical clamping structure. This symmetrical design allows the clamping force to be evenly distributed on both sides of the magnesium ingot, which helps to reduce the phenomenon of the magnesium ingot shifting or tilting during the clamping process and improves the stability of the clamping.

[0033] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0034] 1. The two clamping plates of the present invention are in sliding fit with the two ends of the magnesium ingot. The inclined surface of the clamping plate is in surface contact with the end of the magnesium ingot. At the same time, under the action of the clamping plate spring force, it is conducive to the slow falling of the magnesium ingot, so that the magnesium ingot is placed stably in the target position. This can reduce the impact of rapid falling on the magnesium ingots or stacking platform below, thereby reducing the offset of the magnesium ingot after falling, reducing the phenomenon of uneven stacking of magnesium ingots, and improving the stability of stacking.

[0035] 2. In this invention, the ball head abuts against the upper surface of the magnesium ingot, and the magnesium ingot is well constrained in three-dimensional space. This helps to reduce the phenomenon of shaking or displacement of the magnesium ingot due to vibration, inertia and other factors during transportation. The pressure spring plays a role in buffering pressure. The rotating connection design of the ball head makes the contact between the pressure rod and the surface of the magnesium ingot a rolling friction, which helps to reduce the scratching of the magnesium ingot surface by the ball head, thereby helping to protect the integrity of the magnesium ingot surface. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the magnesium ingot handling fixture of the present invention;

[0037] Figure 2 This is a schematic diagram of the clamping plate and clamping mechanism of the present invention;

[0038] Figure 3 This is a side view of the clamping plate of the present invention when it is not holding a magnesium ingot;

[0039] Figure 4 This is a side view of the clamping plate of the present invention holding a magnesium ingot;

[0040] Figure 5 This is a partial cross-sectional view of the clamping plate of the present invention holding a magnesium ingot;

[0041] Figure 6 This is a schematic diagram of the slider structure of the present invention;

[0042] Figure 7 This is a cross-sectional view of the clamping plate of the present invention;

[0043] Figure 8 This is a cross-sectional view of the pressure plate of the present invention.

[0044] In the diagram: 1. Robotic arm; 2. Clamping platform; 3. Clamping plate; 31. Linear actuator one; 32. Lifting plate; 33. Mounting plate; 34. Lifting rod; 35. Limiting groove; 351. Guide rod; 36. Slider; 361. Inclined groove; 362. Sliding groove; 363. Limiting hole; 37. Sliding rod; 38. Sliding rod; 39. Clamping plate; 391. Inclined surface; 392. Clamping plate spring; 4. Drive mechanism; 41. Clamping arm; 42. Drive component; 421. Linear actuator three; 422. Hinge shaft; 423. Rotating shaft; 5. Pressure plate; 51. Linear actuator two; 52. Pressure rod; 521. Pressure rod spring; 53. Ball head; 54. Sleeve; 6. Magnesium ingot. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will be described in conjunction with the embodiments of the present invention. Figures 1-8 The technical solutions of the embodiments of the present invention will be clearly and completely described.

[0046] Example

[0047] This embodiment provides a magnesium ingot handling fixture, such as Figure 1 and Figure 2As shown, the magnesium ingot 6 is a trapezoidal magnesium ingot. The upper and lower ends of the magnesium ingot 6 are parallel, and the area of ​​the upper end is larger than that of the lower end. Both the front and rear ends of the magnesium ingot 6 are inclined, as are the left and right ends, which are close to each other from top to bottom. The magnesium ingot handling fixture clamps the magnesium ingot 6 on the left and right ends. Multiple magnesium ingots 6 are arranged in parallel front to back, and the magnesium ingot handling fixture can simultaneously clamp and transport multiple magnesium ingots 6.

[0048] like Figure 1 As shown, the magnesium ingot handling fixture includes a robotic arm 1, a clamping platform 2, and a clamping plate 3.

[0049] Among them, such as Figure 1 As shown, the clamping platform 2 is located at the end of the robotic arm 1, and the clamping plates 3 are located on both sides of the clamping platform 2.

[0050] like Figure 1 and Figure 2 As shown, the clamping platform 2 is equipped with a drive mechanism 4 for moving the clamping plate 3. Two drive mechanisms 4 are provided, located on both sides of the clamping platform 2 respectively. Each drive mechanism 4 includes a clamping arm 41 and a drive component 42.

[0051] like Figure 1 and Figure 2 As shown, the drive unit 42 includes a linear driver 421, a hinge shaft 422, and a rotating shaft 423.

[0052] like Figure 1 and Figure 2 As shown, a linear actuator 421 is mounted on a clamping platform 2. One end of a hinge shaft 422 is hinged to the output end of the linear actuator 421, and a rotating shaft 423 is rotatably connected to the clamping platform 2. The other end of the hinge shaft 422 is connected to the rotating shaft 423, whose axis extends in the front-to-back direction. The output shaft of the linear actuator 421 moves in the left-to-right direction.

[0053] like Figure 1 and Figure 2 As shown, each rotating shaft 423 has two clamping arms 41 installed at both ends, and the ends of the two clamping arms 41 are connected to the clamping plate 3. The plate surface of the clamping plate 3 faces the left and right directions.

[0054] like Figure 1 and Figure 2 As shown, the linear actuator 421 drives the hinge shaft 422 to deflect, the hinge shaft 422 drives the rotating shaft 423 to rotate, the rotating shaft 423 drives the clamping arm 41 to rotate, and the clamping arm 41 drives the clamping plate 39 to move synchronously, thereby realizing the clamping or releasing of the magnesium ingot 6.

[0055] like Figure 1 and Figure 2As shown, after the robotic arm 1 moves into position, the linear actuator 3421 drives the two clamping plates 3 to move closer to each other. The two clamping plates 3 are located at the left and right ends of the magnesium ingot 6, and perform preliminary centering and clamping of the magnesium ingot 6.

[0056] like Figure 2 and Figure 4 As shown, a linear actuator 31 is provided on the side of the clamping plate 3 away from the magnesium ingot 6, and the output shaft of the linear actuator 31 moves in the vertical direction. A lifting plate 32 is installed at the end of the output shaft of the linear actuator 31, and the lifting plate 32 is slidably connected to the clamping plate 3.

[0057] like Figure 2 and Figure 4 As shown, a mounting plate 33 is installed on the clamping plate 3 below the lifting plate 32. The mounting plate 33 has multiple mounting holes arranged at intervals. A lifting rod 34 is slidably mounted in the mounting holes, and the axis of the lifting rod 34 extends in the vertical direction. The mounting holes guide the vertical movement of the lifting rod 34. The upper end of the lifting rod 34 is connected to the lifting plate 32.

[0058] like Figure 2 and Figure 4 As shown, the clamping plate 3 has multiple limiting grooves 35 located below the mounting plate 33. The multiple limiting grooves 35 are arranged at intervals, and the limiting grooves 35 are continuous in the left and right directions. The limiting grooves 35 have openings in the left and right directions and at the bottom. The number of limiting grooves 35 is the same as the number of lifting rods 34, and each limiting groove 35 has a lifting rod 34 above it.

[0059] like Figure 2 As shown, a slider 36 is provided inside the limiting groove 35, and the slider 36 and the limiting groove 35 are slidably connected. Specifically, as... Figure 7 As shown, guide rods 351 are inclinedly provided on both the front and rear side walls of the limiting groove 35. The guide rods 351 are inclined from top to bottom along the side walls of the limiting groove 35, from the end closest to the magnesium ingot 6 to the end furthest from the magnesium ingot 6. The two guide rods 351 on each limiting groove 35 are parallel. Figure 6 As shown, the slider 36 has inclined grooves 361 on both its front and rear sides. The inclination angle of the inclined grooves 361 is equal to that of the guide rod 351, so that the inclined grooves 361 can slide with the guide rod 351. The design of the inclined guide rod 351 and the inclined grooves 361 allows the clamping force of the clamping plate 39 to be distributed along a specific direction when clamping the magnesium ingot 6. When the slider 36 moves upward, it moves towards the magnesium ingot 6, and the clamping plate 39 clamps the magnesium ingot 6. When the slider 36 moves downward, it moves away from the magnesium ingot 6, and the clamping plate 39 releases its grip on the magnesium ingot 6.

[0060] like Figure 2 and Figure 4As shown, the upper surface of the slider 36 has an inverted T-shaped groove 362, the length direction of which is parallel to the length direction of the magnesium ingot 6, i.e., the left-right direction. A sliding rod 37 is slidably mounted inside the groove 362, the cross-section of which is also inverted T-shaped, and the sliding rod 37 slides in conjunction with the groove 362. The lifting rod 34 passes through the upper surface of the limiting groove 35 and connects to the upper surface of the sliding rod 37.

[0061] like Figure 2 and Figure 5 As shown, two limiting holes 363 are formed on the slider 36 near the magnesium ingot 6. The two limiting holes 363 are located on both sides of the slide groove 362, and the axis of the limiting holes 363 extends in the left-right direction. A sliding rod 38 is slidably installed in the limiting holes 363, and the axis of the sliding rod 38 extends in the left-right direction. The axis of the sliding rod 38 is parallel to the length direction of the magnesium ingot 6. This arrangement makes the entire clamping structure form a stable support system in the length direction of the magnesium ingot 6.

[0062] like Figure 3 and Figure 5 As shown, the ends of the two sliding rods 38 near the magnesium ingot 6 are each connected to a clamping plate 39. A clamping spring 392 is fitted onto each sliding rod 38, and both ends of the clamping spring 392 are connected to the slider 36 and the clamping plate 39, respectively. The two sliding rods 38 slidably connected to the slider 36 are connected to the clamping plate 39, which helps to make the clamping force of the clamping plate 39 on the magnesium ingot 6 more balanced and stable during clamping.

[0063] like Figure 3 and Figure 5 As shown, each magnesium ingot 6 has a pair of clamping plates 39 on its left and right sides. The plates 39 face left and right, and the end of the clamping plate 39 near the magnesium ingot 6 has an inclined surface 391 that slides with the end face of the magnesium ingot 6. Since the two end faces of the magnesium ingot 6 are close to each other from top to bottom, the inclined surface 391 is inclined from top to bottom towards the side closer to the magnesium ingot 6.

[0064] like Figure 2 and Figure 4 As shown, the linear actuator 31 drives the lifting plate 32 to move upward, and the lifting plate 32 drives the lifting rod 34 to move upward. As the lifting rod 34 moves upward, the sliding rod 37 also rises. The sliding rod 37 is connected to the slider 36, and the slider 36 and the sliding rod 37 are in a sliding fit relationship. Therefore, the slider 36 will move upward together with the sliding rod 37.

[0065] like Figure 6 and Figure 7As shown, the slider 36 and the limiting groove 35 are connected by a sliding engagement of an inclined groove 361 and a guide rod 351. This engagement causes the slider 36 to slide at an angle within the limiting groove 35. Due to the sliding engagement characteristics between the slider rod 37 and the slider 36, the slider 36 not only moves vertically during its ascent but also moves horizontally towards the end of the magnesium ingot 6.

[0066] like Figure 3 and Figure 5 As shown, a clamping plate 39 is connected to the slider 36 via a sliding rod 38. As the slider 36 moves, the sliding rod 38 and the clamping plate 39 also move towards the end of the magnesium ingot 6, meaning the two clamping plates 39 on the left and right sides of the magnesium ingot 6 move closer to each other. The two clamping plates 39 slide against the ends of the magnesium ingot 6, and with the elastic force provided by the clamping spring 392, the magnesium ingot 6 can be slowly centered during clamping and eventually stably clamped. This slow centering method helps reduce damage to the surface of the magnesium ingot 6 caused by rapid clamping and also improves the clamping accuracy.

[0067] like Figures 1-3 As shown, after the robotic arm 1 completes clamping the magnesium ingot 6, it reaches the designated position, and the linear actuator 31 drives the lifting plate 32 and the lifting rod 34 to move downwards. As the lifting rod 34 moves downwards, the sliding rod 37, the slider 36, and the clamping plate 39 also move downwards. During the descent, due to the cooperation between the slider 36 and the limiting groove 35 and the sliding rod 37, the slider 36 moves downwards while simultaneously moving away from the end of the magnesium ingot 6.

[0068] like Figure 3 and Figure 5 As shown, the two clamping plates 39 maintain a sliding fit with both ends of the magnesium ingot 6. The inclined surface 391 of the clamping plate 39 has surface contact with the end of the magnesium ingot 6. Simultaneously, under the elastic force of the clamping plate spring 392, the magnesium ingot 6 falls slowly, reducing the impact on the lower layer of magnesium ingots 6 or the stacking platform caused by rapid descent. This helps reduce the offset of the magnesium ingot 6 after falling, reducing uneven stacking and improving stacking stability. The inclined contact surface also reduces the concentration of clamping force in localized areas, thus reducing the possibility of deformation or damage to the magnesium ingot 6 due to stress concentration.

[0069] like Figure 1 and Figure 2 As shown, two linear actuators 51 are provided below the clamping platform 2. The two linear actuators 51 are arranged in a left-right direction, and the output ends of both linear actuators 51 can move up and down. In this embodiment, linear actuator 31, linear actuator 51 and linear actuator 421 are all one of the cylinders or hydraulic cylinders.

[0070] like Figure 2 and Figure 3 As shown, the output ends of the two linear drivers 51 are equipped with pressure plates 5, which are located between the two clamping plates 3. The length direction of the pressure plates 5 is the front-to-back direction.

[0071] like Figure 2 and Figure 3 As shown, multiple pressure rods 52 are slidably provided at the lower end of the pressure plate 5. The axes of the multiple pressure rods 52 all extend in the vertical direction. The multiple pressure rods 52 are arranged in a front-to-back manner. The number of pressure rods 52 is the same as the number of magnesium ingots 6. Two pressure rods 52 are provided above each magnesium ingot 6. The two pressure rods 52 are arranged in a left-to-right direction.

[0072] like Figure 3 and Figure 8 As shown, the pressure rod 52 is slidably connected to the pressure plate 5 in such a way that multiple sleeves 54 are provided below the pressure plate 5, the axis of the sleeves 54 extends in the vertical direction, and a pressure rod 52 is slidably connected inside each sleeve 54.

[0073] like Figure 3 and Figure 8 As shown, a pressure spring 521 is installed inside the sleeve 54, and the two ends of the pressure spring 521 are connected to the pressure rod 52 and the sleeve 54 respectively. The lower end of the pressure rod 52 is rotatably connected to a ball head 53, which can abut against the upper end face of the magnesium ingot 6.

[0074] like Figure 2 and Figure 3 As shown, the linear actuator 51 drives the pressure plate 5 to descend, which in turn drives the pressure rod 52 and the ball head 53 to descend. The ball head 53 abuts against the upper surface of the magnesium ingot 6, applying pressure directly from above to fix the magnesium ingot 6 in the vertical direction. In this way, the magnesium ingot 6 is well constrained in three-dimensional space, which helps to reduce the shaking or displacement of the magnesium ingot 6 due to vibration, inertia and other factors during transportation, thereby improving the stability of clamping.

[0075] like Figure 2 and Figure 8 As shown, during the downward movement of the pressure plate 5, the pressure rod spring 521 acts as a buffer, which helps to reduce the damage to the surface of the magnesium ingot 6 caused by excessive pressure applied by the ball head 53. At the same time, the rotating connection design of the ball head 53 makes the contact between the pressure rod 52 and the surface of the magnesium ingot 6 a rolling friction. Since the magnesium ingot 6 will move during the centering and clamping process of the clamping plate 39, if the lower end of the pressure rod 52 directly contacts the magnesium ingot 6, it may scratch the upper surface of the magnesium ingot 6. However, the contact of the ball head 53 can reduce this scratching phenomenon, thereby helping to protect the integrity of the surface of the magnesium ingot 6.

[0076] The implementation principle of a magnesium ingot handling fixture in this embodiment is as follows:

[0077] like Figure 1 and Figure 2 As shown, after the robotic arm 1 moves into position, the linear actuator 3421 drives the two clamping plates 3 to move closer to each other. The two clamping plates 3 are located at the left and right ends of the magnesium ingot 6, and perform preliminary centering and clamping of the magnesium ingot 6.

[0078] like Figure 2 As shown, the linear actuator 51 drives the pressure plate 5 to descend, and the pressure plate 5 drives the pressure rod 52 and the ball head 53 to descend. The ball head 53 abuts against the upper end face of the magnesium ingot 6, and can directly apply pressure to the magnesium ingot 6 from above, so that it is also fixed in the vertical direction.

[0079] like Figure 2 and Figure 4 As shown, the linear actuator 31 drives the lifting plate 32 to move upward, and the lifting plate 32 drives the lifting rod 34 to move upward. As the lifting rod 34 moves upward, the sliding rod 37 also rises. The sliding rod 37 is connected to the slider 36, and the slider 36 and the sliding rod 37 are in a sliding fit relationship. Therefore, the slider 36 will move upward together with the sliding rod 37.

[0080] like Figure 6 and Figure 7 As shown, the slider 36 and the limiting groove 35 are connected by a sliding engagement of an inclined groove 361 and a guide rod 351. This engagement causes the slider 36 to slide at an angle within the limiting groove 35. Due to the sliding engagement characteristics between the slider rod 37 and the slider 36, the slider 36 not only moves vertically during its ascent but also moves horizontally towards the end of the magnesium ingot 6.

[0081] like Figure 2 and Figure 5 As shown, a clamping plate 39 is connected to the slider 36 via a sliding rod 38. As the slider 36 moves, the sliding rod 38 and the clamping plate 39 also move towards the side closer to the end of the magnesium ingot 6, meaning the two clamping plates 39 on the left and right sides of the magnesium ingot 6 move closer to each other. The two clamping plates 39 slide against the ends of the magnesium ingot 6, and with the elastic force provided by the clamping spring 392, the magnesium ingot 6 can be slowly centered during the clamping process and eventually be stably clamped.

[0082] like Figure 1 and Figure 2 As shown, after the robotic arm 1 completes clamping the magnesium ingot 6, it reaches the designated position, and the linear actuator 31 drives the lifting plate 32 and the lifting rod 34 to move downwards. As the lifting rod 34 moves downwards, the sliding rod 37, the slider 36, and the clamping plate 39 also move downwards. During the descent, due to the cooperation between the slider 36 and the limiting groove 35 and the sliding rod 37, the slider 36 moves downwards while simultaneously moving away from the end of the magnesium ingot 6.

[0083] like Figure 2 and Figure 5 As shown, the two clamping plates 39 and the two ends of the magnesium ingot 6 still maintain a sliding fit. The inclined surface 391 of the clamping plate 39 and the end of the magnesium ingot 6 are in surface contact. At the same time, under the action of the clamping plate spring 392, it is conducive to the slow falling of the magnesium ingot 6, which can reduce the impact on the lower layer of magnesium ingot 6 or the stacking platform caused by rapid falling.

[0084] like Figure 1 As shown, after the magnesium ingot 6 falls, the linear actuator 3421 drives the two clamping plates 3 to move away from each other, and the robotic arm 1 transports the next set of magnesium ingots 6.

[0085] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components.

Claims

1. A magnesium ingot handling fixture, comprising a robotic arm (1), a clamping platform (2) disposed at the end of the robotic arm (1), and clamping plates (3) disposed on both sides of the clamping platform (2), wherein the clamping plates (3) are driven by a driving mechanism (4); characterized in that: Multiple limiting grooves (35) are provided below the clamping plate (3). A slider (36) is provided in the limiting groove (35). Guide rods (351) are inclined on both sides of the limiting groove (35). Inclined grooves (361) that slide with the guide rods (351) are provided on both sides of the slider (36). An inverted T-shaped sliding groove (362) is provided on the upper end face of the slider (36). The length direction of the sliding groove (362) is parallel to the length direction of the magnesium ingot (6). A sliding rod (37) is slidably provided in the sliding groove (362). The sliding rod (37) is connected to a lifting rod (34) that is slidably provided on the clamping plate (3). The lifting rod (34) is driven by a linear driver (31). A clamping plate (39) is slidably provided on one end of the slider (36) near the magnesium ingot (6). A clamping plate spring (392) is connected between the clamping plate (39) and the slider (36). An inclined surface (391) that slides with the magnesium ingot (6) is provided on one end of the clamping plate (39) near the magnesium ingot (6). A linear actuator (51) is provided below the clamping platform (2). A pressure plate (5) is provided at the output end of the linear actuator (51). The pressure plate (5) is located between the two clamping plates (3). The length direction of the pressure plate (5) is perpendicular to the length direction of the magnesium ingot (6). Multiple pressure rods (52) are slidably provided at the lower end of the pressure plate (5). A pressure rod spring (521) is connected between the pressure rod (52) and the pressure plate (5). A ball head (53) is rotatably connected to the end of the pressure rod (52). The magnesium ingot (6) is a trapezoidal magnesium ingot. The front and rear ends of the magnesium ingot (6) are inclined, and the left and right ends are also inclined. The left and right ends are close to each other from top to bottom. The inclined surface (391) of the clamping plate (39) is in surface contact with the end of the magnesium ingot (6). Under the action of the spring force of the clamping plate spring (392), the magnesium ingot (6) can fall slowly, reducing the impact on the lower layer of magnesium ingot (6) or the stacking platform caused by rapid falling.

2. The magnesium ingot handling fixture according to claim 1, characterized in that: The output end of the linear driver (31) is connected to the lifting plate (32), and multiple lifting rods (34) are connected to the lifting plate (32).

3. A magnesium ingot handling fixture according to claim 2, characterized in that: A sliding rod (38) is connected to one end of the clamping plate (39) away from the magnesium ingot (6). The axial direction of the sliding rod (38) is parallel to the length direction of the magnesium ingot (6). The sliding rod (38) is slidably connected to the slider (36). The clamping plate spring (392) is sleeved on the sliding rod (38).

4. A magnesium ingot handling fixture according to claim 3, characterized in that: The guide rod (351) is inclined from top to bottom on the side wall of the limiting groove (35) from the end closest to the magnesium ingot (6) to the end furthest from the magnesium ingot (6), and the inclination angle of the inclined groove (361) is equal to the inclination angle of the guide rod (351).

5. A magnesium ingot handling fixture according to claim 4, characterized in that: The two end faces of the magnesium ingot (6) near the clamping plate (39) approach each other from top to bottom, and the inclined surface (391) on the clamping plate (39) slopes from top to bottom toward the side closer to the magnesium ingot (6).

6. A magnesium ingot handling fixture according to claim 5, characterized in that: Two sliding rods (38) are slidably connected to the slider (36), and the ends of the two sliding rods (38) are connected to the clamps (39). A pair of clamps (39) are provided on both sides of the magnesium ingot (6).

7. A magnesium ingot handling fixture according to claim 6, characterized in that: Two linear actuators (51) and two pressure plates (5) are provided. The number of pressure bars (52) set on each pressure plate (5) is the same as the number of magnesium ingots (6).

8. A magnesium ingot handling fixture according to claim 7, characterized in that: The drive mechanism (4) includes clamping arms (41) hinged to both sides of the clamping platform (2) and a drive member (42) that drives the two clamping arms (41) to move closer or further apart from each other. The clamping plate (39) is mounted on the clamping arms (41).

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