An ingot casting stacking robot

Abstract

This invention belongs to the technical field of industrial stacking equipment, specifically an ingot stacking robot. Addressing the technical problem that current industrial stacking equipment cannot intelligently analyze the clamping state of ingots to assist operators in safe operation, this invention proposes the following solution: a rotating frame assembly, comprising a horizontally arranged fixed platform, a turntable base mounted on top of the fixed platform, a vertically arranged swing arm base fixed on top of the turntable base, and a first swing arm mounted on the side wall of the swing arm base. This invention adds a slip detection component and a clamping pressure monitoring component, achieving real-time and accurate monitoring of the ingot clamping state. The slip detection component determines whether the ingot has slipped, and the clamping pressure monitoring component uses a pressure sensor to detect the clamping force in real time, accurately grasping changes in the clamping force. The two components work together to improve the safety and stability of the stacking operation.

Description

Technical Field

[0001] This invention relates to the field of industrial stacking equipment technology, and in particular to an ingot stacking robot. Background Technology

[0002] In the metallurgical casting industry, the production of ingots is often accompanied by high temperature, high dust and heavy physical labor environment. After the ingots are demolded from the casting machine, they need to be neatly stacked into bundles according to the prescribed number of layers and arrangement to facilitate subsequent cooling, storage and transportation. The traditional manual stacking method is not only extremely labor-intensive and inefficient, but also poses serious safety hazards and occupational health risks to workers who work in high temperature and high noise environment for a long time.

[0003] For example, Chinese patent document CN115893019A discloses an industrial palletizing robot, including a conveyor frame, an upper shelf installed at one end of the conveyor frame, a conveyor roller shaft installed inside the conveyor frame, two alignment clamping plates symmetrically installed above the conveyor roller shaft, a clamping spring installed on the other side of the alignment clamping plates, and an alignment frame installed at the other end of the conveyor frame, with telescopic columns symmetrically installed inside the alignment frame. The above-disclosed patent technology has the following problem: in the palletizing of industrial ingots, the existing palletizing robot has issues with clamping the ingots... After the ingots are processed, they are stacked layer by layer according to the designed algorithm. However, the ingot status cannot be detected during the clamping and stacking process. Due to the large mass of the ingots, they are prone to unstable clamping or slippage during the clamping and stacking process, which can lead to stacking failure or even endanger the operators. Therefore, current industrial palletizing equipment cannot intelligently detect the clamping status of the product while clamping it, thus failing to improve the safety of industrial palletizing robots. Existing technologies are not easy to solve this problem. Therefore, there is an urgent need for ingot stacking robots to solve the above problems. Summary of the Invention

[0004] To address the technical problem that current industrial stacking equipment cannot intelligently analyze the clamping state of ingots to assist operators in safe operation during ingot stacking, this invention proposes an ingot stacking robot.

[0005] The present invention proposes an ingot stacking robot, including a rotating frame assembly. The rotating frame assembly includes a horizontally arranged fixed platform, a turntable base installed on the top of the fixed platform, a vertically arranged swing arm base fixed on the top of the turntable base, a first swing arm installed on the side wall of the swing arm base, a second swing arm installed on the top of the first swing arm, and a clamping assembly installed at one end of the second swing arm. Clamping assembly: includes a fixed top plate installed at one end of the second swing arm, clamping side frames are installed on both sides of the bottom of the fixed top plate, clamping claws are installed on one side of the clamping side frames, and a sliding detection assembly and a clamping pressure monitoring assembly are provided inside the clamping claws; The swing arm base is equipped with a controller, which includes a pressure monitoring module, a slip detection module, and a data processing module. Indicator lights are also installed on the circumference of the fixed machine.

[0006] Preferably, two first electric push rods are installed on the top of the clamping side frame, and the tops of the two first electric push rods are installed with the bottom of the fixed top plate.

[0007] Preferably, an extension bracket is fixed to the side wall of the clamping side frame, and a clamping claw fixing rod is installed at the end of the extension bracket. A second electric push rod is installed between the clamping claw fixing rod and the clamping side frame.

[0008] Preferably, a drive housing is also installed on the top of the turntable base, and the drive housing is used to drive the rotation of the turntable base.

[0009] Preferably, the slip detection component includes a mounting plate fixed to the inner wall of the clamping claw, a limit spring fixed to the bottom of the mounting plate, a roller seat fixed to the bottom of the limit spring, a roller installed inside the roller seat, and a stepper motor installed on the side wall of the roller seat. The stepper motor is used to detect the rotation state of the roller.

[0010] Preferably, the clamping pressure monitoring component includes roller shaft mounting holes on both sides of the roller seat, roller shafts are fixed at the positions of the virtual axis lines on both sides of the roller, and two symmetrical roller shaft gaskets are installed inside the roller shaft mounting holes. Pressure sensors are installed on the inner sidewalls of the two roller shaft gaskets, and the roller shafts on both sides of the roller are respectively installed in the two roller shaft gaskets through bearings.

[0011] Preferably, the slip detection module has its signal terminal electrically connected to the stepper motor, used to receive the rotation state data of the stepper motor, and analyze and process the collected data to generate a slip change coefficient S. The change of the slip change coefficient S reflects the movement of the ingot during the clamping assembly. As the slip change coefficient S increases, the greater the movement of the ingot during clamping, the more unstable the ingot clamping is.

[0012] Preferably, the pressure monitoring module has its signal terminal electrically connected to the pressure sensor, which is used to receive the status data of the pressure sensor, analyze and process the collected data, and generate a clamping pressure change coefficient F. The change of the clamping pressure change coefficient F reflects the clamping force of the clamping assembly when clamping the ingot.

[0013] Preferably, the data processing module is used to collect the clamping pressure change coefficient F and the slip change coefficient S generated by the pressure monitoring module and the slip detection module, and to perform a weighted summation operation on the clamping pressure change coefficient F and the slip change coefficient S to generate a judgment coefficient T. The controller compares the generated judgment coefficient T with a preset threshold T1 to control the status of the indicator light, thereby assisting the operator in maintaining the stability and safety of the ingot clamping and stacking during the ingot stacking operation.

[0014] The beneficial effects of this invention are as follows: This ingot stacking robot is equipped with a slippage detection component and a clamping pressure monitoring component, enabling real-time and accurate monitoring of the ingot clamping status. The slippage detection component uses a stepper motor to detect the rotation status of the rollers in real time, thereby determining whether the ingot has slipped and generating a slippage change coefficient S, which intuitively reflects the degree of slippage. The clamping pressure monitoring component uses a pressure sensor to detect the clamping force in real time and generates a clamping pressure change coefficient F, accurately grasping the changes in clamping force. The two components work together to promptly detect unstable factors in the ingot clamping process, providing data support for subsequent control adjustments. This effectively avoids problems such as ingot slippage due to excessively loose clamping and ingot damage due to excessively tight clamping, improving the safety and stability of the stacking operation.

[0015] This ingot stacking robot, through the collaborative work of a pressure monitoring module, a slip detection module, and a data processing module within its controller, analyzes and processes the detected pressure and slip data in real time, generates a judgment coefficient T, and compares it with a preset threshold T1. It automatically controls the status of indicator lights, providing intuitive reminders to operators of the ingot clamping status. Operators do not need to constantly monitor the clamping process; they only need to perform auxiliary operations based on the indicator light status, effectively reducing labor intensity and avoiding safety accidents caused by human error. Furthermore, the control logic can be adjusted according to actual operational needs to adapt to ingots of different specifications and weights, improving the equipment's versatility and practicality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an ingot stacking robot proposed in this invention; Figure 2 This is a partial structural diagram of the clamping component of an ingot stacking robot proposed in this invention; Figure 3 This is a partial structural diagram of a sliding detection component for an ingot stacking robot proposed in this invention; Figure 4 This is a partial structural diagram of a clamping pressure detection component for an ingot stacking robot proposed in this invention; Figure 5This is a schematic diagram of the control principle structure of an ingot stacking robot proposed in this invention.

[0017] In the picture: 100. Rotating frame assembly; 101. Fixed machine base; 102. Turntable base; 103. Swing arm base; 104. First swing arm; 105. Second swing arm; 106. Drive housing; 107. Indicator light; 200. Clamping assembly; 201. Fixed top plate; 202. Clamping side frame; 203. Clamping claw; 204. First electric push rod; 205. Extension bracket; 206. Clamping claw fixing rod; 207. Second electric push rod; 300. Slip detection assembly; 301. Roller seat; 302. Roller; 303. Mounting plate; 304. Limiting slide; 305. Limiting spring; 306. Stepper motor; 400 Clamping pressure detection component; 401 Roller shaft mounting hole; 402 Roller shaft gasket; 403 Pressure sensor; 404 Roller shaft. Detailed Implementation

[0018] Reference Figure 1 A casting ingot stacking robot includes a rotating frame assembly 100, which serves as the core support structure of the entire robot and is used to realize the rotation, lifting, and extension movements of the robotic arm and the gripping assembly 200. The rotating frame assembly 100 includes a horizontally arranged fixed platform 101, which is welded from high-strength steel. Anti-slip and shock-absorbing pads are provided at the four corners of the bottom. The anti-slip and shock-absorbing pads are made of nitrile rubber material, which can effectively absorb the vibration generated during the operation of the equipment, prevent the equipment from sliding, and reduce the damage of vibration to the internal components of the equipment.

[0019] A turntable base 102 is mounted on the top of the fixed machine base 101. The turntable base 102 adopts a hollow casting structure and is internally equipped with deep groove ball bearings and precision transmission gears. The deep groove ball bearings have the characteristics of high load-bearing capacity and flexible rotation, which can ensure that the turntable base 102 can still rotate smoothly when bearing a large weight. A vertically arranged swing arm base 103 is fixed on the top of the turntable base 102. The swing arm base 103 is integrally cast. A first swing arm 104 is installed on the side wall of the swing arm base 103. The top of the first swing arm 104... The first swing arm 104 and the second swing arm 105 are equipped with a second swing arm 105. The lengths of the first swing arm 104 and the second swing arm 105 can be designed according to actual operation requirements. A clamping component 200 is installed at one end of the second swing arm 105. Both the first swing arm 104 and the second swing arm 105 are equipped with a drive motor and a reducer. The drive motor is a servo motor, which can precisely control the rotation angle and speed of the swing arm, and realize the flexible extension and angle adjustment of the robotic arm. The clamping component 200 is used to realize the precise clamping and stable fixation of the ingot, and is a key component to ensure the safety of stacking operations.

[0020] Reference Figure 2 Clamping assembly 200: includes a fixed top plate 201 installed at one end of the second swing arm 105. Clamping side frames 202 are installed on both sides of the bottom of the fixed top plate 201. A clamping claw 203 is installed on one side of the clamping side frame 202. The surface of the clamping claw 203 is provided with uniformly distributed anti-slip texture, which can increase the friction between the clamping claw 203 and the ingot, prevent the ingot from slipping during clamping, and avoid the clamping claw from causing scratches, pressure marks or other damage to the surface of the ingot. It is suitable for ingots with easily deformable surfaces. The inside of the clamping claw 203 is provided with a slip detection assembly 300 and a clamping pressure monitoring assembly 400. Reference Figures 1-5 The swing arm base 103 is equipped with a controller, which includes a pressure monitoring module, a slip detection module, and a data processing module. An indicator light 107 is installed on the circumference of the fixed machine 101. The indicator light 107 uses a high-brightness LED light and has two states: red and green. A red light indicates that the ingot clamping is unstable and there is a risk of slippage, while a green light indicates that the ingot clamping is stable and stacking operations can be carried out normally. The brightness of the indicator light 107 can be adjusted according to the brightness of the workshop environment to ensure that the operator can clearly see the status of the indicator light from a distance.

[0021] Reference Figure 1 , Figure 2Furthermore, two first electric push rods 204 are installed on the top of the clamping side frame 202. The top of the two first electric push rods 204 is installed with the bottom of the fixed top plate 201. The two first electric push rods 204 are symmetrically distributed. The first electric push rods 204 can precisely control the lifting height of the clamping side frame 202, thereby adjusting the height position of the clamping claw 203 to adapt to the clamping requirements of ingots of different height specifications. The bottom of the first electric push rod 204 is connected to the clamping side frame 202 by a hinge, which can realize a certain angle of rotation.

[0022] Reference Figure 1 , Figure 2 Furthermore, an extension bracket 205 is fixed to the side wall of the clamping side frame 202. A clamping claw fixing rod 206 is installed at the end of the extension bracket 205. A second electric push rod 207 is installed between the clamping claw fixing rod 206 and the clamping side frame 202. The second electric push rod 207 is a servo electric push rod. One end of it is connected to the clamping side frame 202 by a hinge, and the other end is connected to the clamping claw fixing rod 206 by a hinge. Through the extension and retraction of the second electric push rod 207, the clamping claw fixing rod 206 can be driven to rotate around the rotation axis, thereby controlling the opening and closing action of the clamping claw 203 to realize the clamping and releasing of the ingot.

[0023] Reference Figure 1 Furthermore, a drive housing 106 is also installed on the top of the turntable base 102. The drive housing 106 is used to drive the rotation of the turntable base 102. The drive housing 106 adopts a sealed structure design, the outer shell is made of stainless steel, and the surface is provided with heat dissipation windows. The internal components include a servo motor, a reducer, and transmission gears. The servo motor is an AC servo motor, which has the functions of controllable speed and precise positioning, and can realize the precise rotation of the turntable base 102. The reducer is a planetary gear reducer, which can convert the high-speed rotation of the servo motor into the low-speed and stable rotation of the turntable base 102, thereby improving the load-bearing capacity and rotational stability of the turntable base 102.

[0024] Reference Figures 1-3 Furthermore, the slip detection component 300 includes a mounting plate 303 fixed to the inner wall of the clamping claw 203. A limit spring 305 is fixed to the bottom of the mounting plate 303. A roller seat 301 is fixed to the bottom of the limit spring 305. A roller 302 is installed inside the roller seat 301. A stepper motor 306 is installed on the side wall of the roller seat 301. The stepper motor 306 is used to detect the rotation state of the roller 302. The limit spring 305 is made of high-temperature resistant spring steel, which has good elasticity and toughness and can buffer and limit the roller seat 301. When the clamping claw 203 clamps the ingot, the limit spring 305 can adaptively extend and retract according to the surface shape of the ingot to ensure that the roller and the surface of the ingot are in close contact.

[0025] During the clamping operation, the stepper motor 306 is connected to the rotating shaft of the roller 302. When the ingot slips during the clamping process, it will drive the roller 302 to rotate. The roller 302 drives the rotor of the stepper motor 306 to rotate. The stepper motor 306 can capture data such as the rotation angle, speed and direction of the roller 302 in real time and transmit the data to the slip detection module.

[0026] Reference Figures 1-4 Furthermore, the clamping pressure monitoring component 400 includes roller shaft mounting holes 401 on both sides of the roller seat 301, roller shafts 404 fixed at the positions of the virtual axis lines on both sides of the roller 302, two symmetrical roller shaft gaskets 402 installed inside the roller shaft mounting holes 401, pressure sensors 403 installed on the inner sidewalls of the two roller shaft gaskets 402, and the roller shafts 404 on both sides of the roller 302 respectively installed in the two roller shaft gaskets 402 through bearings.

[0027] When the robot is gripping the ingot, the gripper 203 grips the ingot, and the ingot exerts pressure on the roller 302. The roller 302 transmits the pressure to the pressure sensor 403 through the roller shaft 404. The pressure sensor 403 converts the pressure signal into an electrical signal and transmits it to the pressure monitoring module.

[0028] Reference Figures 1-5 Furthermore, the slip detection module: its signal terminal is electrically connected to the stepper motor 306, used to receive the rotation state data of the stepper motor 306, and analyze and process the collected data to generate a slip change coefficient S. The change of the slip change coefficient S reflects the movement of the ingot when the clamping component 200 clamps the ingot. As the slip change coefficient S increases, the greater the movement of the ingot during clamping, the more unstable the ingot clamping is.

[0029] Reference Figures 1-5 Furthermore, the pressure monitoring module: its signal terminal is electrically connected to the pressure sensor 403, used to receive the status data of the pressure sensor 403, and analyze and process the collected data to generate the clamping pressure change coefficient F. The change of the clamping pressure change coefficient F reflects the clamping force of the clamping component 200 when clamping the ingot.

[0030] Reference Figures 1-5 Furthermore, the data processing module is used to collect the clamping pressure change coefficient F and the slip change coefficient S generated by the pressure monitoring module and the slip detection module, and to perform a weighted summation operation on the clamping pressure change coefficient F and the slip change coefficient S to generate a judgment coefficient T. The controller compares the generated judgment coefficient T with the preset threshold T1 to control the state of the indicator light 107, thereby assisting the operator in maintaining the stability and safety of the ingot clamping and stacking during the ingot stacking operation. The expression for the weighted summation is as follows.

[0031] = × + × ; in: : is the coefficient of change of clamping pressure; : represents the coefficient of slip variation; : is the weight of the clamping pressure variation coefficient; : is the weight of the slip change coefficient.

[0032] Wherein: T1 is a preset threshold, set according to the actual situation. It means that when the comprehensive result T exceeds the threshold T1, the indicator light 107 needs to be turned on red to remind the user that the ingot may slip during the clamping process and the clamping force is insufficient to maintain stability, and there is a risk of falling. If the result T is less than or equal to the threshold T1, the indicator light 107 needs to be turned on green to indicate that the ingot has not moved during the clamping process and the clamping force is sufficient to maintain stability. The ingot stacking robot can continue the ingot stacking work.

[0033] Indicator light 107=

[0034] In practical applications, weight and The selection of weights should be based on the specific application scenario and requirements, ensuring that they accurately reflect their relative importance in that scenario. Furthermore, the sum of these two weights should generally equal 1, indicating that they together constitute the total weight of the entire weighted sum.

[0035] When using this invention: First, the operator starts the equipment through the human-machine interface and sets the specifications of the ingot, including weight, diameter, and height. The controller automatically adjusts the initial positions of the first electric push rod 204 and the second electric push rod 207 according to the set parameters, and simultaneously sets the standard clamping pressure and weight. and And parameters such as threshold T1; through the operation of the rotating frame assembly 100, the angle of the first swing arm 104 and the second swing arm 105 is controlled to move, and the rotation of the bottom turntable base 102 is controlled by the drive housing 106, thereby controlling the position of the top clamping assembly 200. The angle of the clamping assembly 200 is controlled by the motor to deflect. When clamping the ingot, the first electric push rod 204 controls the lifting and lowering of the two clamping side frames 202, and the second electric push rod 207 controls the retraction and clamping action of the clamping claw 203. After the ingot is clamped by the two clamping claws 203 of the clamping assembly 200, the state of the clamped ingot is detected in real time by the slip detection assembly 300 and the clamping pressure detection assembly 400, respectively. In addition, the pressure detection module and the slip detection module in the controller detect the state of the pressure sensor 403 and the stepper motor 306 in real time. The clamping pressure variation coefficient F and the slippage variation coefficient S are obtained through real-time calculation and analysis. The data processing module analyzes and calculates the clamping pressure variation coefficient F and the slippage variation coefficient S to obtain the judgment coefficient T. When the comprehensive result T exceeds the threshold T1, it indicates that the indicator light 107 needs to be turned on red to remind the user that the ingot may slip during the clamping process and that the clamping force is insufficient to maintain stability, posing a risk of falling. If the result T is less than or equal to the threshold T1, it indicates that the indicator light 107 needs to be turned on green to indicate that the ingot has not moved during the clamping process and the clamping force is sufficient to maintain stability. The ingot stacking robot can continue the ingot stacking work. During the entire stacking operation, the controller monitors the operating status of each module in real time. If abnormalities such as pressure sensor 403 failure or stepper motor 306 failure occur, the controller will issue an alarm signal in time and control the equipment to stop running to prevent safety accidents.

[0036] 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 inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A casting ingot stacking robot, comprising a rotating frame assembly (100), characterized in that, The rotating frame assembly (100) includes a horizontally arranged fixed platform (101), a turntable base (102) is installed on the top of the fixed platform (101), a vertically arranged swing arm base (103) is fixed on the top of the turntable base (102), a first swing arm (104) is installed on the side wall of the swing arm base (103), a second swing arm (105) is installed on the top of the first swing arm (104), and a clamping assembly (200) is installed at one end of the second swing arm (105). Clamping assembly (200): includes a fixed top plate (201) installed at one end of the second swing arm (105), clamping side frames (202) are installed on both sides of the bottom of the fixed top plate (201), and clamping claws (203) are installed on one side of the clamping side frames (202). The clamping claws (203) are provided with a slip detection assembly (300) and a clamping pressure monitoring assembly (400) inside. The swing arm base (103) is equipped with a controller, which includes a pressure monitoring module, a slip detection module, and a data processing module. An indicator light (107) is installed on the circumference of the fixed machine base (101).

2. The ingot stacking robot according to claim 1, characterized in that, Two first electric push rods (204) are installed on the top of the clamping side frame (202), and the top of the two first electric push rods (204) is installed with the bottom of the fixed top plate (201).

3. The ingot stacking robot according to claim 2, characterized in that, An extension bracket (205) is fixed to the side wall of the clamping side frame (202), and a clamping claw fixing rod (206) is installed at the end of the extension bracket (205). A second electric push rod (207) is installed between the clamping claw fixing rod (206) and the clamping side frame (202).

4. The ingot stacking robot according to claim 1, characterized in that, A drive housing (106) is also installed on the top of the turntable base (102), which is used to drive the rotation of the turntable base (102).

5. The ingot stacking robot according to claim 1, characterized in that, Slip detection assembly (300): includes a mounting plate (303) fixed to the inner wall of a gripper (203), a limit spring (305) fixed to the bottom of the mounting plate (303), a roller seat (301) fixed to the bottom of the limit spring (305), a roller (302) installed inside the roller seat (301), and a stepper motor (306) installed on the side wall of the roller seat (301). The stepper motor (306) is used to detect the rotation state of the roller (302).

6. The ingot stacking robot according to claim 5, characterized in that, Clamping pressure monitoring assembly (400): includes roller shaft mounting holes (401) on both sides of roller seat (301), roller shafts (404) are fixed at the positions of the virtual axis lines on both sides of the roller (302), and two symmetrical roller shaft gaskets (402) are installed inside the roller shaft mounting holes (401). Pressure sensors (403) are installed on the inner sidewalls of the two roller shaft gaskets (402), and the roller shafts (404) on both sides of the roller (302) are respectively installed in the two roller shaft gaskets (402) through bearings.

7. The ingot stacking robot according to claim 6, characterized in that, The slip detection module: its signal terminal is electrically connected to the stepper motor (306) to receive the rotation state data of the stepper motor (306), and analyzes and processes the collected data to generate a slip change coefficient S. The change of the slip change coefficient S reflects the movement of the ingot when the clamping component (200) clamps the ingot. As the slip change coefficient S increases, the greater the movement of the ingot during clamping, the more unstable the ingot clamping is.

8. The ingot stacking robot according to claim 7, characterized in that, Pressure monitoring module: Its signal terminal is electrically connected to the pressure sensor (403) to receive the status data of the pressure sensor (403), and analyze and process the collected data to generate the clamping pressure change coefficient F. The change of the clamping pressure change coefficient F reflects the clamping force of the clamping component (200) when clamping the ingot.

9. A casting ingot stacking robot according to claim 8, characterized in that, The data processing module is used to collect the clamping pressure change coefficient F and the slip change coefficient S generated by the pressure monitoring module and the slip detection module, and to perform a weighted summation operation on the clamping pressure change coefficient F and the slip change coefficient S to generate a judgment coefficient T. The controller compares the generated judgment coefficient T with the preset threshold T1 and controls the state of the indicator light (107) to assist the operator in maintaining the stability and safety of the ingot clamping and stacking during the ingot stacking operation.

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