Intelligent pick-and-place manipulator for aluminum sheet stacks

Abstract

This invention discloses an intelligent gripping and placing robot for aluminum plate stacking, relating to the field of robot technology. It includes a frame, a three-axis (x, y, z) movement mechanism, a fixed plate, a receiving platform, a lifting frame, and a fixing groove. It also includes: a hydraulic drive mechanism disposed between the fixed plate and the fixing groove to provide driving force when gripping the aluminum plate; a hydraulic clamping mechanism disposed at the bottom of the fixing groove to achieve an adaptive support clamping effect when gripping the aluminum plate; the hydraulic clamping mechanism includes support rollers symmetrically disposed below the fixing groove, which move closer together to the bottom of the aluminum plate after clamping its sides for support; and a hydraulic support mechanism symmetrically disposed on both sides of the frame. This invention, during the process of gripping and moving the aluminum plate to a designated position, can, on the one hand, avoid excessive clamping that would cause severe deformation of the aluminum plate, and on the other hand, avoid the phenomenon of the aluminum plate falling off due to its own weight due to insufficient clamping force.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent gripping and placing robotic arm for stacking aluminum plates. Background Technology

[0002] Robotic arms are core equipment in modern intelligent manufacturing systems. Through programming and control, they automatically perform tasks such as conveying, assembling, and welding of objects, effectively replacing manual labor. In the aluminum plate production process, high-temperature aluminum plates are transported to a support frame by a conveyor belt. Then, a programmed robotic arm is used to grasp, move, and stack the high-temperature aluminum plates, completing an intelligent grasping and stacking process. Stacking is for the convenience of transporting the produced aluminum plates. The types of robotic arms typically include vacuum suction cup type and mechanical clamping type. When dealing with high-temperature aluminum plate profiles, conventional suction cup type robotic arms are prone to serious accidents such as dropping plates and burning suction cups. Therefore, mechanical clamping is usually used when grasping high-temperature aluminum plates.

[0003] In the existing technology, aluminum plates are usually large in volume and heavy in weight. When using a gripping robot to hold the aluminum plate by its side and move it, if the gripping force is too large, it is easy to cause the aluminum plate to bend and deform. The high-temperature aluminum plate is very easy to deform after cooling in a bent state. If the gripping force is too small, the aluminum plate is easy to dent from the middle due to its own weight. When the aluminum plate is gripped and moved, it is very easy for the plate to fall off.

[0004] To address the aforementioned issues, there is an urgent need for innovative designs based on existing gripping and releasing robotic arms. Summary of the Invention

[0005] This invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different approach. Specifically, the invention aims to provide an intelligent gripping and releasing robot for stacking aluminum plates, thus solving the problems mentioned in the background: if the clamping force is too large, the aluminum plate is prone to bending and deformation, and the high-temperature aluminum plate is easily deformed after cooling in a bent state; if the clamping force is too small, the aluminum plate is prone to denting from the middle due to its own weight, and the plate is very likely to fall off when gripping and moving it.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent gripping and placing robot for stacking aluminum plates, comprising a frame, an xyz three-axis moving mechanism, a fixed plate, a receiving platform, a lifting frame, and a fixing groove, and further comprising: The hydraulic drive mechanism is located between the fixed plate and the fixed groove to provide driving force when gripping the aluminum plate; An oil clamping mechanism is located at the bottom of the fixed groove to achieve an adaptive support clamping effect when gripping aluminum plates; The oil clamping mechanism includes support rollers symmetrically arranged below the fixed groove, which move closer to each other to the bottom of the aluminum plate after clamping the side of the aluminum plate to provide support. The oil support mechanism is symmetrically arranged on both sides of the frame to provide secondary support for the oil clamping mechanism when the aluminum plate is clamped and moved.

[0007] Preferably, the xyz three-axis moving mechanism is installed on the top of the frame, and the bottom of the moving end of the xyz three-axis moving mechanism is fixed with a fixing plate and a fixing groove, and the receiving platform and the lifting frame are arranged sequentially below the frame.

[0008] Preferably, the oil drive mechanism includes an oil tank fixed at the center of the top of the fixed groove, and the top of the oil tank is set as an opening. An electric push rod is fixed at the bottom of the fixed plate, and a main piston that slides and engages with the inner wall of the oil tank is fixed at the telescopic end of the electric push rod.

[0009] Preferably, the oil clamping mechanism further includes a first cylinder fixed inside the fixing groove, a first spring is provided inside the first cylinder, and a first piston fixed to both ends of the first spring is symmetrically slidably provided inside the first cylinder, and a first through hole is opened in the middle of the first cylinder, and the oil tank is connected to both ends of the first cylinder through pipelines.

[0010] Preferably, the outer walls of the two sets of first pistons are respectively fixed with connecting cylinders that are in a sealing and sliding fit with the end of the first cylinder. The bottom of each connecting cylinder is fixed with a second cylinder. A second spring is connected to the inner wall of the end of the second cylinder facing the connecting cylinder. A second piston that is in a sliding fit with the inner wall of the second cylinder is fixed to the end of the second spring. A connecting post that passes through one end of the second cylinder is fixed to the outer wall of the second piston. A connecting seat is fixed to the end face of the connecting post. A support roller is rotatably connected to the inside of the connecting seat through a shaft.

[0011] Preferably, one end of the second cylinder is provided with a second through hole located outside the connecting post, and the outer wall of the connecting cylinder is fixed with an oil supply pipeline that is sealed and slides with the end of the first cylinder, and the other end of the connecting cylinder and the second cylinder are connected through the pipeline.

[0012] Preferably, the oil support mechanism includes fixed support plates symmetrically fixed to the lower end of the frame. A third cylinder is fixed to the top of each fixed support plate. The top of the third cylinder is set as an opening, and a third piston is slidably engaged with it inside the third cylinder. A column is fixed to the top of the third piston. A connecting support plate is fixed to the top of the column. A connecting telescopic rod is symmetrically fixed to the top of the connecting support plate. A connecting frame located below the support roller is fixed to the telescopic end of the connecting telescopic rod. A support rail located at the bottom of the support roller is fixed to the top of the connecting frame.

[0013] Preferably, the support track is configured as an arc-shaped structure, and the inner sidewall of the support track is symmetrically provided with balls that fit against the outer wall of the support roller at equal intervals. A rectangular groove is provided in the middle of the support track, and a sliding column that slides in cooperation with the rectangular groove is fixed at the bottom of the connecting seat.

[0014] Preferably, the oil support mechanism further includes a fourth cylinder fixed to the top of the fixed support plate and located on one side of the third cylinder. The fourth cylinder has a fourth piston that slides with it inside. A third spring is connected between the top of the fourth piston and the inner wall of the top of the fourth cylinder. The top of the fourth cylinder has a third through hole.

[0015] Preferably, a connecting pipe connects and communicates between the lower ends of the third cylinder and the fourth cylinder. A fifth cylinder is fixed to the top of the connecting pipe by a fixed partition. A fifth piston is slidably fitted inside the fifth cylinder. The top of the fifth cylinder is connected to the other end of the second cylinder on the corresponding side by a flexible hose. An elastic telescopic rod is symmetrically connected between the fifth piston and the inner wall of the top of the fifth cylinder. A threaded sleeve is fixed to the bottom of the fifth piston. A rotating shaft penetrating the inner wall of the connecting pipe is provided inside the threaded sleeve. A valve plate that fits into the inner wall of the connecting pipe is fixed to the bottom of the rotating shaft.

[0016] Compared with the prior art, the beneficial effects of the present invention are: (1) In the process of grabbing the aluminum plate and moving it to the designated position, the pressure of the oil is used to first clamp the two sides of the aluminum plate by moving the two sets of connecting cylinders closer to each other. The support rollers are located at the bottom of the two sides of the aluminum plate, which can lift the aluminum plate away from the receiving platform. Then, the pressure of the oil is used to make the support rollers on both sides move from the bottom of the aluminum plate to the middle, thereby forming a support at the bottom of the aluminum plate. On the one hand, it can avoid the aluminum plate from being completely deformed due to excessive clamping, and on the other hand, it can avoid the aluminum plate from falling off due to its own weight due to insufficient clamping force. (2) In this invention, during the process of grabbing the aluminum plate and moving it to the designated position, the support roller always slides on the arc-shaped support track. During the longitudinal movement, the oil can be transported between the third cylinder and the fourth cylinder through the connecting pipe. At this time, the support track can provide flexible support for the support roller. Under the action of oil pressure, since the elastic force of the second spring is less than the elastic force of the elastic telescopic rod, the threaded sleeve in the fifth cylinder moves down and drives the rotating shaft to rotate 90 degrees. The rotating shaft drives the valve plate to rotate 90 degrees so that the connecting pipe is in a closed state. The oil in the third cylinder cannot be transported to the fourth cylinder through the connecting pipe. Then the third piston is fixed in the position in the third cylinder. At this time, the support track provides rigid support for the support roller. On the one hand, the stability of the aluminum plate clamping and moving can be improved by the support track. On the other hand, the load on the moving end of the xyz three-axis moving mechanism can be reduced. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present invention; Figure 2 This is a first-view plan view of the present invention; Figure 3 This is a second-view plan view of the present invention; Figure 4 This is a perspective view of the oil driving mechanism, oil clamping mechanism, and oil support mechanism of the present invention; Figure 5 This is a cross-sectional perspective view of the oil driving mechanism and the oil clamping mechanism of the present invention; Figure 6 For the present invention Figure 5 Enlarged view of point A in the image; Figure 7 This is a partial perspective view of the support track of the present invention located at the bottom of the support roller; Figure 8 For the present invention Figure 7 Enlarged view of point B in the image; Figure 9 This is a perspective view of the third cylinder, fourth cylinder, connecting pipe, and fifth cylinder of the present invention after being cut open; Figure 10 For the present invention Figure 9 Enlarged view of point C in the image.

[0018] In the diagram: 1. Frame; 2. XYZ three-axis moving mechanism; 3. Fixed plate; 4. Receiving platform; 5. Lifting frame; 6. Fixed groove; 7. Oil tank; 8. Electric push rod; 9. Main piston; 10. First cylinder; 11. First spring; 12. First piston; 13. Connecting cylinder; 14. Second cylinder; 15. Second spring; 16. Second piston; 17. Connecting column; 18. Connecting seat; 19. Support roller; 20. Fixed support plate; 21. Third cylinder; 22. Third piston; 23. Support column; 24. Connecting support plate; 25. Connecting telescopic rod; 26. Connecting frame; 27. Support rail; 28. Fourth cylinder; 29. ​​Fourth piston; 30. Third spring; 31. Connecting pipe; 32. Fifth cylinder; 33. Fifth piston; 34. Elastic telescopic rod; 35. Threaded sleeve; 36. Rotating shaft; 37. Valve plate. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1 to 10 This invention provides a technical solution: an intelligent gripping and placing robot for stacking aluminum plates, comprising a frame 1, an xyz three-axis moving mechanism 2, a fixing plate 3, a receiving platform 4, a lifting frame 5, and a fixing groove 6, and further comprising: An oil-driven mechanism is located between the fixed plate 3 and the fixed groove 6 to provide driving force when gripping the aluminum plate; An oil clamping mechanism is located at the bottom of the fixed groove 6 to achieve an adaptive support clamping effect when gripping aluminum plates; The oil clamping mechanism includes support rollers 19 symmetrically arranged below the fixed groove 6, which are used to move closer to each other to the bottom of the aluminum plate after clamping the side of the aluminum plate for support. The oil support mechanism is symmetrically arranged on both sides of the frame 1 to provide secondary support for the oil clamping mechanism when the aluminum plate is clamped and moved.

[0021] In specific implementation, the xyz three-axis moving mechanism 2 is existing technology. The moving end achieves the corresponding moving trajectory through a set program. The width of the receiving platform 4 needs to be smaller than the width of the aluminum plate to facilitate clamping and moving the aluminum plate. The lifting frame 5 is conventional existing technology. The lifting platform height of the lifting frame 5 is controllable.

[0022] The xyz three-axis moving mechanism 2 is installed on the top of the frame 1, and the bottom of the moving end of the xyz three-axis moving mechanism 2 is fixed with a fixing plate 3 and a fixing groove 6. The receiving platform 4 and the lifting frame 5 are arranged in sequence below the frame 1.

[0023] In practice, the aluminum plate clamping and conveying sequence is as follows: conveyor belt for conveying aluminum plates, receiving platform 4, and lifting platform of lifting frame 5.

[0024] The hydraulic drive mechanism includes an oil tank 7 fixed at the top center of the fixed groove 6, with the top of the oil tank 7 being an opening. An electric push rod 8 is fixed at the bottom of the fixed plate 3, and a main piston 9 that slides and engages with the inner wall of the oil tank 7 is fixed at the telescopic end of the electric push rod 8.

[0025] In practice, the oil tank 7 is filled with oil at the bottom of the main piston 9.

[0026] The oil clamping mechanism also includes a first cylinder 10 fixed inside the fixed groove 6. A first spring 11 is provided inside the first cylinder 10, and a first piston 12 fixed to both ends of the first spring 11 is symmetrically slidably provided inside the first cylinder 10. A first through hole is opened in the middle of the first cylinder 10, and the oil tank 7 is connected to both ends of the first cylinder 10 through pipelines.

[0027] In specific implementation, the inside of the first cylinder 10 is filled with oil on both sides of the two sets of first pistons 12, and the pipeline connection end between the oil tank 7 and the first cylinder 10 is located between the ends of the first pistons 12 and the first cylinder 10, and the connecting pipeline between the oil tank 7 and the first cylinder 10 is filled with oil.

[0028] The outer walls of the two sets of first pistons 12 are respectively fixed with connecting cylinders 13 that are in a sealing and sliding fit with the end of the first cylinder 10. The bottom of each connecting cylinder 13 is fixed with a second cylinder 14. A second spring 15 is connected to the inner wall of the end of the second cylinder 14 facing the connecting cylinder 13. The end of the second spring 15 is fixed with a second piston 16 that is in a sliding fit with the inner wall of the second cylinder 14. A connecting post 17 that passes through one end of the second cylinder 14 is fixed to the outer wall of the second piston 16. A connecting seat 18 is fixed to the end face of the connecting post 17. A support roller 19 is rotatably connected inside the connecting seat 18 through a shaft.

[0029] In practice, the interior of the connecting cylinder 13 and the interior of the second cylinder 14 are both filled with oil in the area on one side of the second piston 16.

[0030] One end of the second cylinder 14 is provided with a second through hole located outside the connecting post 17, and the outer wall of the connecting cylinder 13 is fixed with an oil supply pipeline that is sealed and slides with the end of the first cylinder 10. The other end of the connecting cylinder 13 and the second cylinder 14 are connected through the pipeline.

[0031] In a specific implementation, the oil pipeline connecting the connecting cylinder 13 and the first cylinder 10 is filled with oil, the pipeline connecting the connecting cylinder 13 and the other end of the second cylinder 14 is filled with oil, and the connecting end of the pipeline connecting the connecting cylinder 13 and the other end of the second cylinder 14 is located between the ends of the second piston 16 and the second cylinder 14.

[0032] The oil support mechanism includes fixed support plates 20 symmetrically fixed to the lower end of the frame 1. A third cylinder 21 is fixed to the top of each fixed support plate 20. The top of the third cylinder 21 is set as an opening, and a third piston 22 is slidably engaged with it inside the third cylinder 21. A support column 23 is fixed to the top of the third piston 22. A connecting support plate 24 is fixed to the top of the support column 23. A connecting telescopic rod 25 is symmetrically fixed to the top of the connecting support plate 24. A connecting frame 26 located below the support roller 19 is fixed to the telescopic end of the connecting telescopic rod 25. A support rail 27 located at the bottom of the support roller 19 is fixed to the top of the connecting frame 26.

[0033] In practice, the interior of the third cylinder 21, located below the third piston 22, is filled with oil, and the length of the support track 27 should be sufficient to accommodate the displacement of the support roller 19.

[0034] The support track 27 is configured as an arc-shaped structure, and the inner sidewall of the support track 27 is symmetrically provided with balls that fit the outer wall of the support roller 19 at equal intervals. A rectangular groove is provided in the middle of the support track 27, and a sliding column that slides in cooperation with the rectangular groove is fixed at the bottom of the connecting seat 18.

[0035] In practice, when the support roller 19 slides on the support track 27, the sliding friction is reduced by the ball bearings, and when the support roller 19 moves closer to each other, it slides in the rectangular groove by the sliding column, so that the support roller 19 is always located on the support track 27.

[0036] The oil support mechanism also includes a fourth cylinder 28 fixed to the top of the fixed support plate 20 and located on one side of the third cylinder 21. The fourth cylinder 28 has a fourth piston 29 that slides with it inside. A third spring 30 is connected between the top of the fourth piston 29 and the inner wall of the top of the fourth cylinder 28. A third through hole is opened at the top of the fourth cylinder 28.

[0037] In practice, the interior of the fourth cylinder 28 is filled with oil in the area below the fourth piston 29. When the fourth piston 29 slides, it balances the pressure through the third through hole at the top of the fourth cylinder 28. The third spring 30 has a small elastic force and is only used for the sliding reset of the fourth piston 29.

[0038] A connecting pipe 31 connects and communicates between the lower ends of the third cylinder 21 and the fourth cylinder 28. A fifth cylinder 32 is fixed to the top of the connecting pipe 31 by a fixed partition. A fifth piston 33 is provided inside the fifth cylinder 32 and slides therewith. The top of the fifth cylinder 32 is connected to the other end of the second cylinder 14 on the corresponding side by a hose. An elastic telescopic rod 34 is symmetrically connected between the fifth piston 33 and the inner wall of the top of the fifth cylinder 32. A threaded sleeve 35 is fixed to the bottom of the fifth piston 33. A rotating shaft 36 that penetrates the inner wall of the connecting pipe 31 is provided inside the threaded sleeve 35. A valve plate 37 that fits into the inner wall of the connecting pipe 31 is fixed to the bottom of the rotating shaft 36.

[0039] In specific implementation, the interior of the connecting pipe 31 above the fifth piston 33 and the hose connecting the fifth cylinder 32 and the corresponding second cylinder 14 are both filled with oil. The thread distribution on the upper outer wall of the rotating shaft 36 causes the threaded sleeve 35 to move down to the maximum displacement, causing the rotating shaft 36 to rotate 90 degrees. The bottom of the fifth cylinder 32 is provided with an opening, and the fixed partition is used to separate the fifth cylinder 32 from the connecting pipe 31, so that the fifth piston 33 can balance the pressure through the bottom opening when sliding in the fifth cylinder 32.

[0040] Working principle: First, the receiving platform 4 should be located at the output end of the aluminum plate conveyor belt, and its height should be consistent with the conveyor belt. The aluminum plates on the conveyor belt are sequentially transported to the top of the receiving platform 4 at intervals. The fixed plate 3 and the fixed groove 6 are moved by the pre-programmed xyz three-axis moving mechanism 2. The xyz three-axis moving mechanism 2 will first control the support rollers 19 on both sides to move to the bottom of the aluminum plate. During the horizontal movement, the support rollers 19 always slide on the arc-shaped support track 27. The ball bearings on the support track 27 can reduce the sliding friction of the support rollers 19. During the vertical downward movement, the support rollers 19 press the support track 27 down. The support track 27 pushes the support column 23 down through the connecting frame 26, the connecting telescopic rod 25 and the connecting support plate 24. The support column 23 pushes the third piston 22 to slide down in the third cylinder 21 and squeezes the oil into the fourth cylinder 28 through the connecting pipe 31. Under the pressure of the oil, the fourth piston 29 slides upward and squeezes the third spring 30. At this time, the support track 27 provides flexible support for the support rollers 19.

[0041] Then, by controlling the telescopic end of the electric push rod 8 to move downward by a fixed stroke, the telescopic end of the electric push rod 8 pushes the main piston 9 to slide downward in the oil tank 7. The main piston 9 squeezes the oil in the oil tank 7 and delivers the oil to both ends of the first cylinder 10 through the pipeline. Under the pressure of the oil, since the elastic force of the first spring 11 is less than that of the second spring 15, the two sets of first pistons 12 slide closer to each other and squeeze the first spring 11. The two sets of first pistons 12 then drive the two sets of connecting cylinders 13 and the oil pipeline at the bottom to slide into the first cylinder 10, so that the two sets of connecting cylinders 13 move closer to each other to clamp the two sides of the aluminum plate. At the same time, the fixed plate 3 and the fixed groove 6 can be controlled to move upward by a fixed distance through the xyz three-axis moving mechanism 2 and then start to move horizontally above the lifting frame 5. Since the sliding column at the bottom of the connecting seat 18 supports... The track 27 slides within the rectangular groove, allowing the support roller 19 to move while simultaneously moving the support track 27. The connecting frame 26 at the bottom of the support track 27 pulls the connecting telescopic rod 25 for adaptive extension and retraction. Since the aluminum plate is blocked by the aluminum plate after being clamped by the two sets of connecting cylinders 13, the clamping force required for the aluminum plate to bend is much greater than the elastic force of the second spring 15. Therefore, the oil begins to be transported to the second cylinder 14 through the pipeline, causing the oil to push the second piston 16 to slide within the second cylinder 14 and squeeze the second spring 15. The second piston 16 pushes the connecting column 17 to move its end connecting seat 18. The connecting seat 18 then drives the support roller 19 to move from the bottom of the aluminum plate to the middle via the shaft. Similarly, the support roller 19 on the other side moves synchronously to the bottom middle of the aluminum plate. At this time, the two sets of support rollers 19 can form initial support at the bottom of the aluminum plate when it is clamped and moved.

[0042] Finally, after the second piston 16 slides to its maximum distance within the second cylinder 14, it can no longer move. Since the elastic force of the second spring 15 is less than that of the elastic telescopic rod 34, the oil will be transported to the fifth cylinder 32 through the hose connected to the outer wall of the end. The oil pushes the fifth piston 33 to slide downwards. Under the limiting action of the two sets of elastic telescopic rods 34, the downward-moving threaded sleeve 35 drives the rotating shaft 36 to rotate. Since the thread distribution on the upper outer wall of the rotating shaft 36 is set to only allow the rotating shaft 36 to rotate 90 degrees, the rotating shaft 36 drives the valve plate 37 to rotate 90 degrees. At this time, the connecting pipe 31 is in a closed state, and the oil in the third cylinder 21 cannot be transported to the fourth cylinder 28 through the connecting pipe 31. Therefore, the third piston 22 is in the third... The position inside the cylinder 21 is fixed. At this time, the support rail 27 provides rigid support for the support roller 19. On the one hand, the support rail 27 can improve the stability of the aluminum plate during clamping and movement. On the other hand, it can reduce the load on the moving end of the xyz three-axis moving mechanism 2. Finally, under the program control, the xyz three-axis moving mechanism 2 moves the clamped aluminum plate to the top of the lifting frame 5. The telescopic end of the electric push rod 8 begins to reset. The connecting cylinder 13 and the support roller 19 move away from each other and reset, causing the aluminum plate to fall. The above clamping and moving process is repeated so that the aluminum plate is stacked on the top of the lifting frame 5. At the same time, the lifting frame 5 descends intermittently to ensure that the height difference between the top stacked aluminum plate and the aluminum plate clamped and moved to the designated position is consistent.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent gripping and placing robot for stacking aluminum plates, comprising a frame (1), an xyz three-axis moving mechanism (2), a fixing plate (3), a receiving platform (4), a lifting frame (5), and a fixing groove (6), characterized in that, Also includes: An oil-driven mechanism is provided between the fixed plate (3) and the fixed groove (6) to provide driving force when gripping the aluminum plate; An oil clamping mechanism is set at the bottom of the fixed groove (6) to achieve an adaptive support clamping effect when gripping aluminum plates; The oil clamping mechanism includes support rollers (19) symmetrically arranged below the fixed groove (6), which move closer to each other to the bottom of the aluminum plate after clamping the side of the aluminum plate for support; The oil support mechanism is symmetrically arranged on both sides of the frame (1) to provide secondary support for the oil clamping mechanism when the aluminum plate is clamped and moved.

2. The intelligent gripping and placing robot for aluminum plate stacking according to claim 1, characterized in that: The xyz three-axis moving mechanism (2) is installed on the top of the frame (1), and the bottom of the moving end of the xyz three-axis moving mechanism (2) is fixed with a fixing plate (3) and a fixing groove (6). The receiving platform (4) and the lifting frame (5) are arranged in sequence below the frame (1).

3. The intelligent gripping and placing robot for aluminum plate stacking according to claim 1, characterized in that: The oil drive mechanism includes an oil tank (7) fixed at the top center of the fixed groove (6), and the top of the oil tank (7) is set as an opening. An electric push rod (8) is fixed at the bottom of the fixed plate (3), and a main piston (9) that slides with the inner wall of the oil tank (7) is fixed at the telescopic end of the electric push rod (8).

4. The intelligent gripping and placing robot for stacking aluminum plates according to claim 3, characterized in that: The oil clamping mechanism also includes a first cylinder (10) fixed inside the fixed groove (6). A first spring (11) is provided inside the first cylinder (10), and a first piston (12) fixed to both ends of the first spring (11) is symmetrically slidably provided inside the first cylinder (10). A first through hole is opened in the middle of the first cylinder (10), and the oil tank (7) is connected to both ends of the first cylinder (10) through pipelines.

5. The intelligent gripping and placing robot for aluminum plate stacking according to claim 4, characterized in that: The outer walls of the two sets of first pistons (12) are respectively fixed with connecting cylinders (13) that are sealed and slidingly engaged with the end of the first cylinder (10). The bottom of each connecting cylinder (13) is fixed with a second cylinder (14). The inner wall of the second cylinder (14) facing the connecting cylinder (13) is connected with a second spring (15). The end of the second spring (15) is fixed with a second piston (16) that is slidingly engaged with the inner wall of the second cylinder (14). The outer wall of the second piston (16) is fixed with a connecting post (17) that passes through one end of the second cylinder (14). The end face of the connecting post (17) is fixed with a connecting seat (18). The inside of the connecting seat (18) is rotatably connected with a support roller (19) through a shaft.

6. The intelligent gripping and placing robot for stacking aluminum plates according to claim 5, characterized in that: The second cylinder (14) has a second through hole located outside the connecting column (17) at one end, and the outer wall of the connecting cylinder (13) is fixed with an oil pipeline that is sealed and slides with the end of the first cylinder (10), and the other end of the connecting cylinder (13) and the second cylinder (14) are connected through the pipeline.

7. The intelligent gripping and placing robot for aluminum plate stacking according to claim 5, characterized in that: The oil support mechanism includes fixed support plates (20) symmetrically fixed at the lower end of the frame (1). A third cylinder (21) is fixed to the top of each fixed support plate (20). The top of the third cylinder (21) is set as an opening, and a third piston (22) is provided inside the third cylinder (21) for sliding cooperation with it. A support column (23) is fixed to the top of the third piston (22). A connecting support plate (24) is fixed to the top of the support column (23). A connecting telescopic rod (25) is symmetrically fixed to the top of the connecting support plate (24). A connecting frame (26) located below the support roller (19) is fixed to the telescopic end of the connecting telescopic rod (25). A support rail (27) located at the bottom of the support roller (19) is fixed to the top of the connecting frame (26).

8. The intelligent gripping and placing robot for stacking aluminum plates according to claim 7, characterized in that: The support track (27) is configured as an arc structure, and the inner sidewall of the support track (27) is symmetrically provided with balls that fit the outer wall of the support roller (19) at equal intervals. A rectangular groove is provided in the middle of the support track (27), and a sliding column that slides in cooperation with the rectangular groove is fixed at the bottom of the connecting seat (18).

9. The intelligent gripping and placing robot for stacking aluminum plates according to claim 8, characterized in that: The oil support mechanism also includes a fourth cylinder (28) fixed to the top of the fixed support plate (20) and located on one side of the third cylinder (21). The fourth cylinder (28) is provided with a fourth piston (29) that slides with it. A third spring (30) is connected between the top of the fourth piston (29) and the inner wall of the top of the fourth cylinder (28). A third through hole is opened at the top of the fourth cylinder (28).

10. The intelligent gripping and placing robot for stacking aluminum plates according to claim 9, characterized in that: A connecting pipe (31) is connected and communicates between the lower ends of the third cylinder (21) and the fourth cylinder (28). A fifth cylinder (32) is fixed to the top of the connecting pipe (31) by a fixed partition. A fifth piston (33) is provided inside the fifth cylinder (32) and slides with it. The top of the fifth cylinder (32) is connected to the other end of the second cylinder (14) on the corresponding side by a hose. An elastic telescopic rod (34) is symmetrically connected between the fifth piston (33) and the inner wall of the top of the fifth cylinder (32). A threaded sleeve (35) is fixed to the bottom of the fifth piston (33). A rotating shaft (36) that penetrates the inner wall of the connecting pipe (31) is provided inside the threaded sleeve (35). A valve plate (37) that fits with the inner wall of the connecting pipe (31) is fixed to the bottom of the rotating shaft (36).

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