Aluminum ingot stacking manipulator
By using a lightweight aluminum alloy rotating palm and a servo motor-driven aluminum ingot palletizing robot, the problems of excessive weight and inaccurate signals have been solved, achieving stable rotation and precise gripping of aluminum ingots, thus improving palletizing efficiency and safety.
Patent Information
- Application Number
- CN202423025758.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2034-12-09
AI Technical Summary
Existing aluminum ingot palletizing robots have excessively heavy robotic arms that rotate at high speeds, making them prone to slipping and falling. Furthermore, their reliance on front-end counters for signals makes them susceptible to malfunctions, leading to palletizing errors and collapses.
It adopts a lightweight aluminum alloy rotating palm plate, servo motor drive and laser range sensor, combined with finger clamping and angle encoder to achieve smooth rotation and precise gripping, avoid falling and improve signal accuracy.
It achieves smooth rotation and precise gripping of the robotic arm, reduces the risk of slippage, improves palletizing efficiency and quality, and reduces palletizing errors.
Smart Images
Figure CN223722072U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to mechanical hand technical field, concretely relates to a kind of aluminium ingot stacking mechanical hand. BACKGROUND
[0002] Traditional aluminium ingot casting is the casting mode that molten aluminium of high temperature is poured into aluminium ingot mould by artificial cooling and solidification forming, and now aluminium ingot casting has developed into the production mode that basically all uses continuous operation ingot casting line circulation casting forming, with the continuous improvement of aluminium ingot casting efficiency, the large amount of aluminium ingot poured still adopts traditional artificial stacking mode, which cannot meet the production demand, and with the rapid development of automation technology, aluminium ingot stacking robot also emerges as the times require, robot stacking needs to match the mechanical hand suitable for grabbing aluminium ingot, but the existing aluminium ingot stacking robot adopts the mechanical hand with excessive weight, and the rotating mechanism of the mechanical hand is driven by telescopic cylinder, the telescopic speed of cylinder is generally fast, which leads to the fast rotating speed of the mechanical hand, and the weight of aluminium ingot is heavy, inertia is also large, which easily causes the dropping in rotating process, affects stacking efficiency and stacking quality, and there is certain security risk.In addition, the grabbing action instruction of the mechanical hand is based on the signal given by front-end aluminium ingot conveying line counter, when individual aluminium ingot with quality problem is taken out in aluminium ingot conveying process, or when counter fails to detect, aluminium ingot stacking robot will appear program confusion, which leads to stacking error and stacking collapse problem.Therefore, it is necessary to design a more suitable mechanical hand for aluminium ingot stacking robot. CONTENT OF UTILITY MODEL
[0003] In view of the above situation, the utility model provides an aluminium ingot stacking mechanical hand, which can well solve the technical problems existing in the prior art aluminium ingot stacking robot.
[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:
[0005] An aluminium ingot stacking mechanical hand, comprising a rotating palm plate and a grabbing mechanism installed on the rotating palm plate, the rotating palm plate is preferably made of aluminum alloy plate with light weight, which helps to reduce the overall weight of the whole mechanical hand, a rotating central shaft is vertically fixed on the upper center of the rotating palm plate, a mounting flange for fixed connection with the stacking robot is rotatably connected to the upper end of the rotating central shaft, a driven gear is coaxially fixed on the outer side of the rotating central shaft below the mounting flange, a servo motor is vertically installed on the side of the mounting flange, and a driving gear meshing with the driven gear is installed on the output shaft of the servo motor.
[0006] The gripper mechanism comprises two groups of finger assemblies symmetrically mounted on the left and right sides of the rotary palm plate, each group of the finger assemblies comprises a pair of clamping fingers symmetrically arranged on the side edges of the rotary palm plate, the inner sides of the lower ends of the two clamping fingers of the same group are connected to the same L-shaped gripper hook plate, the middle parts of the four clamping fingers are rotatably connected to the rotary palm plate, four driving cylinders are symmetrically mounted above the rotary palm plate, and the piston rods of the four driving cylinders are correspondingly connected to the upper ends of the four clamping fingers.
[0007] Further, a laser ranging sensor is mounted below the rotary palm plate to detect the positioning signal of the stacked aluminum ingots below the mechanical arm.
[0008] Further, an angle encoder is mounted at the tail of the servo motor.
[0009] Further, the upper end of the rotary middle shaft is rotatably connected to the mounting flange through a rotating bearing, and an outer turning edge is fixed to the upper end of the rotary middle shaft to prevent the rotary middle shaft from being pulled out.
[0010] Further, the inner sides of the middle parts of the clamping fingers are rotatably pinned to the rotary palm plate through pin seats, serving as the middle rotating pivots of the clamping fingers.
[0011] Further, the top ends of the piston rods of the driving cylinders are rotatably hinged to the upper ends of the clamping fingers, and the driving cylinders serve as the power sources for the clamping actions of the clamping fingers.
[0012] Further, the cylinder bases of the driving cylinders are rotatably hinged to the rotary palm plate through hinge seats, and the hinge mounting of the cylinder bases of the driving cylinders is a common connection mode for the installation of the driving cylinders.
[0013] The utility model also includes other components that enable it to be used normally, which are conventional means in the field, in addition, the devices or components not defined in the utility model, such as: servo motor, driving cylinder, angle encoder, laser ranging sensor, transmission gear set, mounting flange between the stacking robot and the mechanical arm, stacking robot control system and its control circuit setting, all adopt the prior art in the field.
[0014] The utility model has the advantages as follows:
[0015] The aluminum ingot stacking manipulator provided by the utility model is driven by a servo motor, the rotating speed is more stable, the aluminum ingot can be effectively prevented from falling off during rotation, the rotating angle is more accurate, the 360-degree rotation stacking requirement of any angle can be met, most of the components of the manipulator are made of aluminum alloy material, the overall structure is more lightweight, the self-rotation inertia is reduced, the servo motor load is reduced, the laser position measuring instrument of the manipulator is used to collect aluminum ingot data signals in real time, the current existing front-end counter transmission signals are more accurate and reliable, and the problem of stacking error and stacking collapse caused by program confusion due to the error of the number of aluminum ingots grabbed by the manipulator is avoided as much as possible. BRIEF DESCRIPTION OF DRAWINGS
[0016] Figure 1 It is a structural schematic view of the aluminum ingot stacking manipulator in the utility model.
[0017] Figure 2 It is Figure 1 It is a top view structural schematic view of the aluminum ingot stacking manipulator. DETAILED DESCRIPTION
[0018] The technical scheme of the utility model will be clearly and completely described below in combination with specific embodiments. Obviously, the described embodiments are only some of the embodiments of the utility model, rather than all the embodiments.
[0019] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner" and "outer" indicate the orientation or position relationship shown in the drawings and are only for convenience of description.
[0020] Embodiment 1
[0021] As Figures 1-2 shown, an aluminum ingot stacking manipulator comprises a rotating palm plate 1 and a grabbing mechanism installed on the rotating palm plate. The rotating palm plate is made of an aluminum alloy plate. A rotating central shaft 2 is vertically and fixedly connected to the upper center of the rotating palm plate. A mounting flange 4 for fixed connection with a stacking robot is rotatably connected to the upper end of the rotating central shaft through a rotating bearing 3. An outer flange is coaxially welded to the upper end of the rotating central shaft. The outer flange and the mounting flange of the stacking robot do not interfere with each other and are used to movably support above the rotating bearing to prevent the rotating central shaft from being pulled out of the rotating bearing and to prevent the whole manipulator from falling off.
[0022] A driven gear 5 is coaxially and fixedly arranged on the outer side of the rotating central shaft below the mounting flange. A servo motor 6 is vertically installed on the side of the mounting flange. A driving gear 7 engaged with the driven gear is installed on the output shaft of the servo motor.
[0023] The gripper mechanism comprises two groups of finger assemblies symmetrically installed on the left and right sides of the rotating palm plate, each group of the finger assemblies comprises a pair of clamping fingers 8 symmetrically arranged on the side edges of the rotating palm plate, and the inner sides of the lower ends of the two clamping fingers of the same group are connected to the same L-shaped gripper hook plate 9.
[0024] The inner sides of the middle portions of the four clamping fingers are rotatably connected to the rotating palm plate through pin joints 10, which are the middle rotating pivots of the clamping fingers in the form of a seesaw, four driving cylinders 11 are symmetrically installed above the rotating palm plate, the piston rods of the four driving cylinders are correspondingly connected to the upper ends of the four clamping fingers, the cylinder bases of the driving cylinders are rotatably connected to the rotating palm plate through hinge seats 12, the driving cylinders serve as the power sources for the clamping actions of the clamping fingers, the clamping fingers are driven to open and close by the extension and retraction of the piston rods of the driving cylinders, and the gripping and releasing of the aluminum ingots are realized.
[0025] Embodiment 2
[0026] On the basis of embodiment 1, a laser ranging sensor 13 is further installed below the rotating palm plate, which is used for detecting the positioning signal of the aluminum ingots stacked below the manipulator. An angle encoder 14 is further installed at the tail of the servo motor, which is used for detecting the angle of the rotating shaft driven by the servo motor.
[0027] The laser ranging sensor, the servo motor, the angle encoder and the control solenoid valves of the driving cylinders are electrically interlocked through the control system of the stacking robot. The control system of the stacking robot is the prior art, and will not be described in detail.
[0028] The technical scheme of the utility model is not limited to the above specific embodiments, and many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. Any technical modification made within the spirit and principles of the utility model falls within the protection scope of the utility model.
Claims
1. An aluminum ingot stacking manipulator, comprising a rotating palm plate and a gripping mechanism mounted on the rotating palm plate, a rotating central shaft is vertically fixed above the center of the rotating palm plate, and a mounting flange for fixed connection with a stacking robot is rotatably connected to the upper end of the rotating central shaft, characterized in that: The rotation middle shaft outside below the mounting flange is coaxially fixed with a driven gear, the mounting flange is vertically installed with a servo motor, the output shaft of the servo motor is installed with a driving gear meshing transmission with the driven gear, the gripper mechanism comprises two groups of finger assemblies symmetrically installed on the left and right sides of the rotation palm plate, each group of the finger assemblies comprises a pair of clamping fingers symmetrically arranged on the side of the rotation palm plate, the inner sides of the lower ends of the two clamping fingers of the same group are connected to the same L-shaped gripper hook plate, the middle parts of the four clamping fingers are rotatably connected with the rotation palm plate, four driving cylinders are symmetrically installed above the rotation palm plate, the piston rods of the four driving cylinders are correspondingly connected with the upper ends of the four clamping fingers; a laser ranging sensor is installed below the rotation palm plate for detecting the positioning signal of the stacked aluminum ingots below the manipulator; an angle encoder is installed at the tail of the servo motor for collecting the angle signal of the rotation palm plate and the gripper mechanism driven by the servo motor; the laser ranging sensor, the servo motor, the angle encoder and the control solenoid valves of the driving cylinders are electrically interlocked through the control system of the stacking robot.
2. The aluminum ingot piling robot according to claim 1, wherein: The upper end of the rotation middle shaft is rotatably connected with the mounting flange through a rotating bearing.
3. The aluminum ingot piling robot according to claim 1, wherein: The middle inner sides of the clamping fingers are rotatably pinned with the rotation palm plate through pin joints.
4. The aluminum ingot piling robot according to claim 1, wherein: The top ends of the piston rods of the driving cylinders are rotatably hinged with the upper ends of the clamping fingers.
5. The aluminum ingot piling robot according to claim 1, wherein: The cylinder body bases of the driving cylinders are rotatably hinged with the rotation palm plate through hinge seats.