A fixture for robotic transfer of seed plate units in hydrometallurgical processes.
By designing a hinged clamping structure and an anti-sway mechanism, the problem of unstable clamping of the seed plate unit in the hydrometallurgical process is solved, ensuring the stability and accuracy of the seed plate during the transfer process and extending the service life of the clamp.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-19
- Publication Date
- 2026-07-31
AI Technical Summary
The existing clamps used in seed plate units for hydrometallurgical processes are not secure, which makes the seed plates prone to shifting or falling off during the transfer process, affecting the production progress and potentially causing damage to the seed plates.
A hinged clamping structure and an anti-sway mechanism were designed. The clamping structure adaptively adjusts the clamping force through a cylinder-driven clamping arm, and the anti-sway mechanism prevents the seed board from shaking by limiting the anti-sway plate. It also incorporates multiple positioning holes to adapt to seed boards of different heights and widths.
It achieves stable clamping of the seed plate, avoids deviation and detachment during the transfer process, improves transfer accuracy and fixture stability, and extends service life.
Smart Images
Figure CN224577523U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of hydrometallurgical equipment, and in particular to a fixture for robot transfer of seed plate units in hydrometallurgical processes. Background Technology
[0002] In hydrometallurgical processes, seed plate units rely on robots to transfer seed plates between different workstations. The fixtures, as key components connecting the robot and the seed plate, directly impact transfer efficiency and the integrity of the seed plate. Currently, existing fixtures used for seed plate transfer have poorly designed clamping structures, failing to flexibly adjust clamping force according to the actual size of the seed plate. This leads to insecure clamping, causing the seed plate to shift or even fall off during transfer, affecting production progress and potentially damaging the seed plate. Utility Model Content
[0003] To address the aforementioned technical problems, this utility model provides a fixture for robotic transfer of seed plate units in hydrometallurgical processes, which solves the problem of unstable clamping in existing fixtures.
[0004] To achieve the above objectives, the technical solution of this utility model is as follows: A fixture for robotic transfer of seed plate units in a hydrometallurgical process includes a support base and a horizontal plate disposed on top of the support base. A cylinder is disposed between the support base and the horizontal plate. Positioning seats are respectively disposed on both sides of the top surface of the horizontal plate. The top surface of the positioning seats is connected to the robot's manipulator. Positioning plates are installed on the sides of the positioning seats. Clamping mechanisms are installed on the opposite sides of the two positioning plates. The clamping mechanisms include connecting rods. There are two connecting rods. One end of the two connecting rods is hinged to the side of the positioning plate through a pivot. The free end of one connecting rod is hinged to a first clamping arm through a connecting pivot. The free end of the other connecting rod is hinged to a second clamping arm through a connecting pivot. The first clamping arm and the second clamping arm are hinged together through the positioning pivot after clamping.
[0005] It also includes an anti-sway mechanism, which includes a fixed frame. The top of the fixed frame is connected to the robot's manipulator. A fixed plate is provided inside the fixed frame. The side of the support is connected to the fixed plate by a connecting pin. Anti-sway plates are connected to the four corners inside the fixed frame by fasteners. Two anti-sway plates located on the same side are aligned with the clamping openings between the first and second clamping arms.
[0006] The anti-sway plate has multiple positioning holes along its length.
[0007] A set of clamping plates is connected parallel to the anti-sway plate inside the fixed frame, and is centered with the two anti-sway plates on the same side.
[0008] One end of the positioning shaft is extended to connect to a limit plate, which is connected to a fixed plate.
[0009] Compared with the prior art, the beneficial effects of this utility model are: The articulated clamping structure design makes the clamping action of the first and second clamping arms more flexible, and can adaptively adjust the clamping angle according to the thickness of the seed plate. At the same time, the driving force provided by the cylinder is stable, which can ensure that the seed plate is firmly clamped, effectively avoiding the problem of the seed plate shifting or falling off during the transfer process, and solving the defect of the existing fixtures that are not firmly clamped. The top of the fixed frame in the anti-sway mechanism is connected to the robot's manipulator. The fixed plate inside the fixed frame is connected to the side of the support seat via connecting pins, and the anti-sway plates at the four corners inside the fixed frame are aligned with the clamping openings of the clamping mechanism. When the clamping mechanism clamps the seed plate, both sides of the seed plate will be positioned between two anti-sway plates on the same side. The anti-sway plates can limit the lateral movement of the seed plate, effectively suppressing the shaking of the seed plate during the transfer process, improving the positioning accuracy of the seed plate transfer, and solving the problem of easy shaking of the seed plate during the transfer of the existing clamps. Multiple positioning holes are provided along the length of the anti-sway plate. The appropriate positioning hole can be selected according to the height of the seed plate, and the anti-sway plate can be fixed to the fixing frame with fasteners. The installation height of the anti-sway plate can be adjusted to meet the anti-sway requirements of seed plates of different heights. By forming a fixed support with the limiting plate and the fixing plate, the installation stability of the positioning shaft is enhanced, and the positioning shaft is prevented from shifting or loosening due to excessive force during long-term use. This ensures the clamping stability and service life of the clamping mechanism and solves the problem of insufficient connection stability of existing clamping components. Attached Figure Description
[0010] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a three-dimensional schematic diagram of the clamping mechanism in this utility model; Figure 3 This is a three-dimensional schematic diagram of the anti-sway mechanism in this utility model; Figure 4 This is a side view of the clamping mechanism in this utility model.
[0011] In the picture: 1. Seed plate body; 2. Clamping mechanism; 201. First clamping arm; 202. Second clamping arm; 203. Connecting rod; 205. Connecting shaft; 206. Rotating shaft; 207. Positioning plate; 208. Positioning seat; 209. Horizontal plate; 210. Cylinder; 211. Support seat; 212. Connecting pin; 213. Limiting plate; 214. Positioning shaft; 3. Anti-sway mechanism; 301. Clamping plate; 302. Fixing plate; 303. Fixing frame; 304. Fastener; 305. Protective plate. Detailed Implementation
[0012] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of this utility model.
[0013] A fixture for robotic transfer in a seed plate unit during hydrometallurgical processes includes a support base 211 and a horizontal plate 209 disposed above it. A cylinder 210 is provided between the support base 211 and the horizontal plate 209. Positioning seats 208 are respectively provided on both sides of the top surface of the horizontal plate 209. The top surface of the positioning seats 208 is connected to the robot's manipulator. Positioning plates 207 are installed on the sides of the positioning seats 208. Clamping mechanisms 2 are installed on the opposite sides of the two positioning plates 207. The clamping mechanism 2 includes two connecting rods 203. One end of each connecting rod 203 is hinged to the side of the positioning plate 207 via a pivot 206. The free end of one connecting rod 203 is hinged to a first clamping arm 201 via a connecting pivot 205, and the free end of the other connecting rod 203 is hinged to a second clamping arm 202 via a connecting pivot 205. The first clamping arm 201 and the second clamping arm 202 are then hinged together via a positioning pivot 214. The cylinder 210 drives the horizontal plate 209 to move up and down relative to the support seat 211. The horizontal plate 209 moves the positioning seat 208 and the positioning plate 207, which in turn drives the first clamping arm 201 and the second clamping arm 202 to rotate around the positioning pivot 214 via the connecting rods 203, thereby opening and closing the clamping opening and adjusting the clamping force. This hinged clamping structure design makes the clamping action of the first clamping arm 201 and the second clamping arm 202 more flexible. It can adaptively adjust the clamping angle according to the thickness of the seed plate body 1. At the same time, the driving force provided by the cylinder 210 is stable, which can ensure that the seed plate body 1 is firmly clamped, effectively avoiding the problem of the seed plate body 1 shifting or falling off during the transfer process, and solving the defect of the existing fixtures that are not firmly clamped.
[0014] The system also includes an anti-sway mechanism 3, which comprises a fixed frame 303. The top of the fixed frame 303 is connected to the robot's manipulator. A fixed plate 302 is located inside the fixed frame 303. The side of the support 211 is connected to the fixed plate 302 via a connecting pin 212. Protective plates 305 are connected to the four corners of the fixed frame 303 via fasteners 304. The two protective plates 305 on the same side are aligned with the clamping openings between the first clamping arm 201 and the second clamping arm 202. The top of the fixed frame 303 in the anti-sway mechanism 3 is connected to the robot's manipulator. The fixed plate 302 inside the fixed frame 303 is connected to the side of the support 211 via a connecting pin 212, and the protective plates 305 at the four corners of the fixed frame 303 are aligned with the clamping openings of the clamping mechanism 2. When the clamping mechanism 2 clamps the seed plate body 1, both sides of the seed plate body 1 will be positioned between the two protective plates 305 on the same side, and the protective plates 305 can limit the lateral movement of the seed plate body 1. Meanwhile, the connection structure between the fixed frame 303 and the support seat 211 enhances the overall stability of the entire fixture and reduces the shaking of the fixture itself during robot movement, which is transmitted to the seed plate body 1.
[0015] The protective plate 305 has multiple positioning holes along its length. Appropriate positioning holes are selected based on the height of the seed plate body 1, and the plate is connected to the fixing frame 303 via fasteners 304. The protective plate 305 has multiple positioning holes along its length, allowing for the selection of suitable holes based on the height of the seed plate body 1. Fasteners 304 are used to fix the protective plate 305 to the fixing frame 303, adjusting the installation height of the protective plate 305 to meet the anti-sway requirements of seed plate bodies 1 at different heights. Simultaneously, a set of clamping plates 301 connected parallel to the protective plate 305 within the fixing frame 303 are aligned with the protective plate 305 on the same side.
[0016] A set of clamping plates 301 are connected parallel to the protective plate 305 inside the fixing frame 303, and are centered with the two protective plates 305 on the same side. The clamping plates 301 can further cooperate with the protective plates 305 to provide auxiliary limiting for seed plate bodies 1 of different widths.
[0017] One end of the positioning shaft 214 is extended and connected to a limiting plate 213, which is connected to a fixing plate 302. This allows the positioning shaft 214 to not only hinge the first clamping arm 201 and the second clamping arm 202, but also form a fixed support with the fixing plate 302 through the limiting plate 213. This enhances the installation stability of the positioning shaft 214 and prevents it from shifting or loosening due to excessive force during long-term use. As a result, the clamping stability and service life of the clamping mechanism 2 are ensured, solving the problem of insufficient connection stability of existing clamping components.
[0018] When using: First, adjust the installation height of the protective plate 305 according to the height of the seed plate body 1 to be clamped: select the positioning hole on the protective plate 305 that matches the height of the seed plate body 1, and fix the protective plate 305 on the fixing frame 303 with fasteners 304; then, the robot drives the clamp to move above the seed plate body 1, so that the clamping mouth of the clamping mechanism 2 is aligned with the seed plate body 1; then, the cylinder 210 works, its piston rod extends, and drives the horizontal plate 209 to move upward relative to the support seat 211. The horizontal plate 209 drives the positioning seat 208 and the positioning plate 207 to move upward. The positioning plate 207 drives the two connecting rods 203 to rotate around the rotating shaft 206 through the rotating shaft 206. The connecting rods 203 drive the first clamping arm 201 and the second clamping arm 202 to rotate around the positioning shaft 214 through the connecting shaft 205, so that the clamping mouth opens. Subsequently, the robot lowers the clamp, positioning the seed plate body 1 within the clamping opening. The piston rod of cylinder 210 retracts, causing the horizontal plate 209 to move downward relative to the support seat 211. The horizontal plate 209, through the positioning seat 208, positioning plate 207, rotating shaft 206, connecting rod 203, and connecting shaft 205, drives the first clamping arm 201 and the second clamping arm 202 to rotate in opposite directions around the positioning shaft 214, closing the clamping opening and firmly clamping the seed plate body 1. Finally, the robot moves the clamp and seed plate body 1 to the target workstation. During the transfer, the protective plate 305 and the clamping plate 301 limit and prevent swaying of the seed plate body 1, ensuring stable transfer of the seed plate body 1. Upon reaching the target workstation, the piston rod of cylinder 210 extends again, opening the clamping opening and releasing the seed plate body 1, completing one seed plate transfer operation.
[0019] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A fixture for robotic transfer of seed plate units in hydrometallurgical processes, characterized in that, The system includes a support (211) and a horizontal plate (209) mounted on top of it. A cylinder (210) is provided between the support (211) and the horizontal plate (209). Positioning seats (208) are provided on both sides of the top surface of the horizontal plate (209). The top surface of the positioning seats (208) is connected to the robot's manipulator. Positioning plates (207) are installed on the sides of the positioning seats (208). Clamping mechanisms (2) are installed on the opposite sides of the two positioning plates (207). The clamping mechanisms (2) include connecting rods (20... 3) There are two connecting rods (203). One end of the two connecting rods (203) is hinged to the side of the positioning plate (207) through the pivot (206). The free end of one connecting rod (203) is hinged to the first clamping arm (201) through the connecting shaft (205), and the free end of the other connecting rod (203) is hinged to the second clamping arm (202) through the connecting shaft (205). The first clamping arm (201) and the second clamping arm (202) are hinged together through the positioning shaft (214) after being clamped.
2. A gripper for robotic transfer of a starter plate machine in a hydrometallurgical process according to claim 1, characterized in that, It also includes an anti-sway mechanism (3), which includes a fixed frame (303). The top of the fixed frame (303) is connected to the robot's manipulator. A fixed plate (302) is provided inside the fixed frame (303). The side of the support (211) is connected to the fixed plate (302) through a connecting pin (212). Protective plates (305) are connected to the four corners inside the fixed frame (303) through fasteners (304). The two protective plates (305) located on the same side are aligned with the clamping openings between the first clamping arm (201) and the second clamping arm (202).
3. A gripper for robotic transfer of a starter plate machine in a hydrometallurgical process according to claim 2, wherein, The protective plate (305) has multiple positioning holes along its length.
4. A gripper for robotic transfer of a starter plate machine in a hydrometallurgical process according to claim 3, wherein, A set of clamping plates (301) are connected inside the fixing frame (303) parallel to the protective plate (305) and are centered with the two protective plates (305) on the same side.
5. A fixture for robotic transfer of seed plate units in hydrometallurgical processes according to claim 4, characterized in that, One end of the positioning shaft (214) is extended to connect to a limiting plate (213), and the limiting plate (213) is connected to the fixing plate (302).