A shaped aluminum ingot clamping and transferring mechanism and a transferring robot

Abstract

The application discloses a shaped aluminum ingot clamping and transferring mechanism and a transferring robot, in which the fixed platform is lowered to limit the stress of the aluminum ingot, the clamping pieces located at the two ends of the fixed platform are gathered to the end part of the aluminum ingot under the driving of the driving pieces, the limiting grooves in the clamping pieces are in close contact with the protrusions of the end part of the aluminum ingot to limit the end part, and the downward pressing piece, the matched clamping piece and the limiting groove form orthogonal bidirectional full constraint; in the application, the fixed platform is lowered to limit the stress of the aluminum ingot, the clamping pieces located at the two ends of the fixed platform are gathered to the end part of the aluminum ingot under the driving of the driving pieces, the limiting grooves in the clamping pieces are in close contact with the protrusions of the end part of the aluminum ingot to limit the end part, and the downward pressing piece, the matched clamping piece and the limiting groove form orthogonal bidirectional full constraint, so that all the displacement degrees of freedom of the aluminum ingot in the space are completely limited in the horizontal and vertical directions, and the phenomenon that the aluminum ingot is transferred to fall off is avoided.

Description

Technical Field

[0001] This invention relates to the field of aluminum ingot transfer technology, and in particular to a clamping and transfer mechanism and a transfer robot for shaped aluminum ingots. Background Technology

[0002] Currently, aluminum ingot transfer is a very important part of the aluminum ingot processing, especially for large production lines, where ingot transfer technology is crucial. In the existing aluminum ingot production process, aluminum ingots need to be arranged in order and then transferred from the rack to the stacking station for sequential stacking. Each layer of aluminum ingots overlaps tightly and neatly, thereby ensuring that the stacked aluminum ingots are neat, beautiful, and do not fall apart during transportation.

[0003] The shortcoming of existing technology is that, since aluminum ingots need to be transferred to a designated location after production, specialized equipment is required for this transfer. Existing transfer devices suffer from insufficient constraint dimensions because the aluminum ingot handling fixtures only address lateral clamping or single-sided end-face limiting. Summary of the Invention

[0004] The purpose of this invention is to provide a clamping and transferring mechanism and a transferring robot for forming aluminum ingots. By moving the fixed platform downward, the aluminum ingot is pressed down and the force is limited. The clamping parts located at both ends of the fixed platform converge towards the end of the aluminum ingot under the drive of the driving part. The limiting groove opened in the clamping part fits and limits the protrusion at the end of the aluminum ingot, so that the pressing part, the cooperating clamping part and the limiting groove form an orthogonal bidirectional full constraint, which completely restricts all degrees of freedom of the aluminum ingot in the lateral and longitudinal directions in space, and avoids the phenomenon of aluminum ingot falling during transfer.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a forming aluminum ingot clamping and transfer mechanism and a transfer robot, including a robotic arm with a fixed plate on it; a fixed platform at the bottom of the fixed plate, a driving component on the fixed platform, a clamping component connected to the driving component, and pressing components symmetrically arranged at the bottom of the fixed platform; when the pressing components press against the aluminum ingot, the driving component drives the clamping components located at both ends of the fixed platform to clamp and limit the two ends of the aluminum ingot, and the limiting grooves opened in the clamping components limit the protrusions at the ends of the aluminum ingot, so that the pressing components, the clamping components and the limiting grooves form an orthogonal bidirectional full constraint, which completely restricts all degrees of freedom of the aluminum ingot in the lateral and longitudinal directions in space, and avoids the phenomenon of aluminum ingot falling during transfer.

[0006] As a further description of the above technical solution:

[0007] The fixed platform is symmetrically provided with sliding sleeves, and a sliding rod is movably provided inside the sliding sleeve. A fastening block is fixedly connected to the bottom end of the sliding rod, and a pressure strip is fixedly connected to the bottom end of the fastening block.

[0008] As a further description of the above technical solution:

[0009] A support spring is fixedly connected to the top of the fastening block, and the support spring is sleeved on the slide rod. A stop ring is fixedly connected to the top of the support spring, and the stop ring is movably connected to the slide rod.

[0010] As a further description of the above technical solution:

[0011] A fixing bar is fixedly connected to the top of the fixed platform, and a hydraulic cylinder is fixedly connected to the top of the fixing bar. One end of the hydraulic cylinder is provided with a telescopic rod, and one end of the telescopic rod is fixedly connected with a connector.

[0012] As a further description of the above technical solution:

[0013] The fixed platform is fixedly connected to a support bar at its bottom end. The two ends of the support bar are movably connected to swing arms, and the top of the swing arms is movably connected to a connector. The bottom end of the swing arms is fixedly connected to a clamping component.

[0014] As a further description of the above technical solution:

[0015] The clamping member includes a horizontal arm, which is fixedly connected to the swing arm. A clamping plate is fixedly connected to the bottom end of the horizontal arm. A limit groove is opened at one end of the clamping plate, and a reinforcing rib is fixedly connected to the other end of the clamping plate.

[0016] As a further description of the above technical solution:

[0017] The limiting groove has an inclined surface at one end near the clamping end, and the inclined surface fits against the protrusion at the end of the aluminum ingot.

[0018] As a further description of the above technical solution:

[0019] The bottom end of the fixed plate is symmetrically fixed with connecting columns, and the connecting columns are fitted with shock-absorbing springs, which are located between the fixed plate and the fixed platform.

[0020] A transfer robot is implemented through the aforementioned aluminum ingot clamping and transfer mechanism.

[0021] This invention provides a clamping and transferring mechanism and a transferring robot for forming aluminum ingots, which have the following advantages:

[0022] In this invention, the downward movement of the fixed platform limits the downward pressure on the aluminum ingot. The clamping components located at both ends of the fixed platform converge towards the end of the aluminum ingot under the drive of the driving component. The limiting groove in the clamping component fits and limits the protrusion at the end of the aluminum ingot, so that the pressing component, the cooperating clamping component and the limiting groove form an orthogonal bidirectional full constraint, which completely restricts all degrees of freedom of the aluminum ingot in the lateral and longitudinal directions in space, and avoids the phenomenon of the aluminum ingot falling off during transportation. Attached Figure Description

[0023] Figure 1This is a schematic diagram of the structure of a forming aluminum ingot clamping and transferring mechanism and a transferring robot proposed in this invention;

[0024] Figure 2 This is a schematic diagram of the structure of the fixing plate in this invention;

[0025] Figure 3 This is a schematic diagram of the fixed platform in this invention;

[0026] Figure 4 This is a schematic diagram of the limiting groove in the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the lower pressure bar in this invention;

[0028] Figure 6 In this invention Figure 5 Enlarged diagram of point A in the middle.

[0029] Legend: 1. Robotic arm; 2. Fixed plate; 21. Connecting column; 22. Shock-absorbing spring; 3. Fixed platform; 31. Sliding sleeve; 32. Fixing strip; 4. Pressing component; 41. Pressing strip; 42. Fastening block; 43. Support spring; 44. Washer ring; 45. Sliding rod; 5. Driving component; 51. Hydraulic cylinder; 52. Telescopic rod; 53. Connector; 54. Swing arm; 55. Support strip; 6. Clamping component; 61. Horizontal arm; 62. Clamping plate; 63. Limiting groove; 64. Reinforcing rib. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Reference Figure 1-6 A forming aluminum ingot clamping and transfer mechanism and transfer robot include a robotic arm 1 with a fixed plate 2 on it; a fixed platform 3 is provided at the bottom of the fixed plate 2, and a driving component 5 is provided on the fixed platform 3. The driving component 5 is connected to a clamping component 6, and a pressing component 4 is symmetrically provided at the bottom of the fixed platform 3. When the pressing component 4 abuts against the aluminum ingot, the driving component 5 drives the clamping components 6 located at both ends of the fixed platform 3 to clamp and limit the two ends of the aluminum ingot. The limiting groove 63 opened in the clamping component 6 limits the protrusion at the end of the aluminum ingot, so that the pressing component 4, together with the clamping component 6 and the limiting groove 63, forms an orthogonal bidirectional full constraint, which completely restricts all degrees of freedom of the aluminum ingot in the lateral and longitudinal directions in space, and avoids the phenomenon of the aluminum ingot falling off during transfer.

[0032] Specifically, the robotic arm 1 is a multi-axis motion handling robotic arm 1 device in the prior art. The fixed platform 3 is connected to the fixed plate 2 connected to the shaft end of the robotic arm 1. The fixed platform 3 has a rectangular steel plate structure. A driving component 5 is provided between the fixed platform 3 and the fixed plate 2 to drive the movement of the clamping component 6. The driving component 5 drives the clamping components 6 located at both ends of the fixed platform 3 to converge. When the fixed platform 3 moves down, the unpowered pressing component 4 connected to the bottom of the fixed platform 3 presses against the aluminum ingot. The aluminum ingot is arranged in strips and parallel on the conveying platform. The pressing component 4 limits the downward pressure on the aluminum ingot by the downward movement of the fixed platform 3. The clamping components 6 located at both ends of the fixed platform 3 converge towards the end of the aluminum ingot under the drive of the driving component 5. The limiting groove 63 opened in the clamping component 6 fits and limits the protrusion at the end of the aluminum ingot, realizing that the pressing component 4, the cooperating clamping component 6 and the limiting groove 63 form an orthogonal bidirectional full constraint, which completely restricts all degrees of freedom of the aluminum ingot in the lateral and longitudinal directions in space, and avoids the phenomenon of aluminum ingot falling during transportation.

[0033] A sliding sleeve 31 is symmetrically provided on the fixed platform 3. A sliding rod 45 is movably provided inside the sliding sleeve 31. A fastening block 42 is fixedly connected to the bottom end of the sliding rod 45. A pressure strip 41 is fixedly connected to the bottom end of the fastening block 42. A support spring 43 is fixedly connected to the top end of the fastening block 42. The support spring 43 is sleeved on the sliding rod 45. A stop ring is fixedly connected to the top end of the support spring 43. A washer ring 44 is movably connected to the sliding rod 45.

[0034] Specifically, a sliding rod 45 is slidably connected inside the sliding sleeve 31 fixed to the fixed platform. The bottom end of the sliding rod 45 is fixed to the lower pressure bar 41 by the fastening block 42 and is in a non-powered state. When the fixed platform 3 moves down under the drive of the robotic arm 1, it causes the lower pressure bar 41 to abut against a set of aluminum ingots. As the fixed platform 3 moves further down, the sliding rod 45 slides along the sliding sleeve 31. The support spring 43 fixed on the fastening block 42 and the abutment ring fixed thereto abut against the bottom of the fixed platform 3 and compress the support spring 43. When the fixed platform 3 moves up, the support spring 43 releases its elastic force to reset the lower pressure bar 41. This eliminates the need for an additional independent limit cylinder for the lower pressure bar 41, simplifies the drive structure, and reduces hardware costs and potential failure points.

[0035] A fixing bar 32 is fixedly connected to the top of the fixed platform 3. A hydraulic cylinder 51 is fixedly connected to the top of the fixing bar 32. A telescopic rod 52 is provided at one end of the hydraulic cylinder 51. A connector 53 is fixedly connected to one end of the telescopic rod 52. A support bar 55 is fixedly connected to the bottom of the fixed platform 3. A swing arm 54 is movably connected to both ends of the support bar 55. The top of the swing arm 54 is movably connected to the connector 53. A clamping member 6 is fixedly connected to the bottom of the swing arm 54. The clamping member 6 includes a horizontal arm 61, which is fixedly connected to the swing arm 54. A clamping plate 62 is fixedly connected to the bottom of the horizontal arm 61. A limit groove 63 is provided at one end of the clamping plate 62. A reinforcing rib 64 is fixedly connected to the other end of the clamping plate 62. An inclined surface is provided at the end of the limit groove 63 near the clamping, and the inclined surface fits against the protrusion at the end of the aluminum ingot. A connecting column 21 is symmetrically fixed to the bottom of the fixed plate 2. A shock-absorbing spring 22 is sleeved on the connecting column 21 and is located between the fixed plate 2 and the fixed platform 3.

[0036] Specifically, a hydraulic cylinder 51 is fixedly attached to a fixing bar 32 symmetrically fixed to the top of the fixed platform 3. The hydraulic cylinder 51 drives the telescopic rod 52 to reciprocate. The connector 53 fixed to the telescopic rod 52 is movably connected to the swing arm 54. When the hydraulic cylinder 51 drives the connector 53 to move through the telescopic rod 52, the swing arm 54 connected to the connector 53 rotates along the axis of the support bar 55 it is connected to. The clamping member 6 fixed to one end of the swing arm 54 swings, realizing the clamping of the aluminum ingot by the clamping member 6. The clamping plate 62 fixed to the arm 61 moves under the adjustment of the swing arm 54. The limiting groove 63 opened at one end of the two clamping plates 62 is used to limit the protrusion at the end of the aluminum ingot. The groove of the limiting groove 63 has an inclined surface. When the swing arm 54 drives the clamping plate 62 to clamp the aluminum ingot, the inclined surface is in contact with the protruding surface at the end of the aluminum ingot, so that the protrusion of the aluminum ingot is limited in the clamping plate 62. The clamping plate 62 supports and lifts the aluminum ingot against the lower pressure bar 41, increasing the contact area, dispersing the clamping pressure, and preventing the aluminum ingot from being deformed by indentation.

[0037] Working principle: This equipment mainly consists of a robotic arm 1, a fixed plate 2, a fixed platform 3, a pressing component 4, a driving component 5, and a clamping component 6. The robotic arm 1 is a multi-axis motion handling device in the prior art, and is connected to the fixed platform 3 through the fixed plate 2 connected to the shaft end. The fixed platform 3 has a rectangular steel plate structure, with unpowered pressing components 4 symmetrically arranged at its bottom, and the driving component 5 for driving the clamping component 6 is installed on the platform.

[0038] During operation, the robotic arm 1 moves the fixed platform 3 downwards. After the pressing component 4 presses against the aluminum ingot, the driving component 5 drives the clamping components 6 at both ends of the fixed platform 3 to converge towards the end of the aluminum ingot. The limiting groove 63 on the clamping component 6 fits against the protrusion at the end of the aluminum ingot, realizing the orthogonal bidirectional full constraint of the pressing component 4, the clamping component 6, and the limiting groove 63. This completely restricts all degrees of freedom of the aluminum ingot in terms of lateral and longitudinal displacement, preventing the ingot from falling off during transportation.

[0039] The pressing component adopts a non-powered design. Sliding sleeves 31 are symmetrically arranged on the fixed platform 3. Sliding rods 45 are movably installed inside the sliding sleeves 31. The bottom end of the sliding rods 45 is connected to the pressing bar 41 through a fastening block 42. A support spring 43 is provided at the top of the fastening block 42. The spring is sleeved on the sliding rod 45, and the top end contacts the fixed platform 3 through a stop ring.

[0040] When the fixed platform 3 moves downward, the pressure bar 41 first contacts the aluminum ingot and continues to move downward with the platform. The slide rod 45 slides along the sliding sleeve 31 to compress the support spring 43, achieving flexible downward pressure and limiting of the aluminum ingot. When the platform moves upward, the support spring 43 releases its elastic force to reset the pressure bar 41. This structure eliminates the need for an additional independent limiting cylinder, simplifying the drive structure and reducing hardware costs and potential failure points.

[0041] The clamping drive system consists of a hydraulic cylinder 51, a telescopic rod 52, a connector 53, a swing arm 54, and a support bar 55. The hydraulic cylinder 51 is mounted on the fixing bar 32 at the top of the fixed platform 3, and the connector 53 connected to its telescopic rod 52 is movably connected to the swing arm 54. The middle part of the swing arm 54 is movably connected to the support bar 55 at the bottom of the fixed platform 3, and the end is fixedly connected to the clamping component 6.

[0042] The clamping component 6 includes a horizontal arm 61 and a clamping plate 62. One end of the clamping plate 62 has a limiting groove 63 that matches the protrusion at the end of the aluminum ingot. The groove opening has an inclined surface to fit the protrusion of the aluminum ingot. A hydraulic cylinder 51 drives a telescopic rod 52 to reciprocate, which, through a connector 53, drives a swing arm 54 to rotate along the axis of the support bar 55, thus realizing the opening and closing action of the clamping component 6. During clamping, the clamping plate 62 provides support and lift for the aluminum ingot, and, in conjunction with the lower pressure bar 41, increases the contact area and disperses the clamping pressure, preventing indentation and deformation of the aluminum ingot. A shock-absorbing spring 22 is fitted on the connecting column 21 between the fixed plate 2 and the fixed platform 3, which can effectively buffer vibrations during operation.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A clamping and transferring mechanism for formed aluminum ingots, characterized in that, Includes a robotic arm (1), on which a fixed plate (2) is provided; The fixed plate (2) has a fixed platform (3) at its bottom end, and a driving component (5) is provided on the fixed platform (3). The driving component (5) is connected to a clamping component (6) and a pressing component (4) is symmetrically provided at the bottom end of the fixed platform (3). When the pressing component (4) presses against the aluminum ingot, the clamping component (6) located at both ends of the fixed platform (3) is driven by the driving component (5) to clamp and limit the two ends of the aluminum ingot. The limiting groove (63) opened in the clamping component (6) limits the protrusion at the end of the aluminum ingot, so that the pressing component (4) works with the clamping component (6) and the limiting groove (63) to form an orthogonal two-way full constraint, which completely restricts all the horizontal and vertical displacement degrees of freedom of the aluminum ingot in space, and avoids the phenomenon of the aluminum ingot being dropped during transportation.

2. The forming aluminum ingot clamping and transfer mechanism according to claim 1, characterized in that, The fixed platform (3) is symmetrically provided with sliding sleeves (31), and a sliding rod (45) is movably provided inside the sliding sleeve (31). A fastening block (42) is fixedly connected to the bottom end of the sliding rod (45), and a pressure strip (41) is fixedly connected to the bottom end of the fastening block (42).

3. The forming aluminum ingot clamping and transfer mechanism according to claim 1, characterized in that, The top of the fastening block (42) is fixedly connected to a support spring (43), and the support spring (43) is sleeved on the slide rod (45). The top of the support spring (43) is fixedly connected to a stop ring, and the washer ring (44) is movably connected to the slide rod (45).

4. The forming aluminum ingot clamping and transfer mechanism according to claim 1, characterized in that, The fixed platform (3) has a fixed strip (32) fixed to its top end, and a hydraulic cylinder (51) is fixed to the top end of the fixed strip (32). One end of the hydraulic cylinder (51) is provided with a telescopic rod (52), and one end of the telescopic rod (52) is fixed with a connector (53).

5. The forming aluminum ingot clamping and transfer mechanism according to claim 1, characterized in that, The fixed platform (3) has a support bar (55) fixedly connected to its bottom end. The support bar (55) has swing arms (54) movably connected to both ends. The top of the swing arms (54) is movably connected to the connector (53). The bottom of the swing arms (54) has a clamping member (6) fixedly connected to its bottom end.

6. The forming aluminum ingot clamping and transfer mechanism according to claim 1, characterized in that, The clamping member (6) includes a horizontal arm (61) and the horizontal arm (61) is fixedly connected to the swing arm (54). A clamping plate (62) is fixedly connected to the bottom end of the horizontal arm (61). A limit groove (63) is opened at one end of the clamping plate (62), and a reinforcing rib (64) is fixedly connected to the other end of the clamping plate (62).

7. The forming aluminum ingot clamping and transfer mechanism according to claim 1, characterized in that, The limiting groove (63) has an inclined surface at one end near the clamping end, and the inclined surface fits against the protrusion at the end of the aluminum ingot.

8. The forming aluminum ingot clamping and transfer mechanism according to claim 1, characterized in that, The bottom end of the fixed plate (2) is symmetrically fixed with connecting columns (21), and the connecting columns (21) are fitted with shock-absorbing springs (22), and the shock-absorbing springs (22) are located between the fixed plate (2) and the fixed platform (3).

9. A transfer robot, characterized in that, This is achieved by the aluminum ingot clamping and transfer mechanism according to any one of claims 1-8.

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