CN102502276A - Special fixture used for stacking robot of continuous casting production line of aluminum ingots - Google Patents
Special fixture used for stacking robot of continuous casting production line of aluminum ingots Download PDFInfo
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- CN102502276A CN102502276A CN2011103132564A CN201110313256A CN102502276A CN 102502276 A CN102502276 A CN 102502276A CN 2011103132564 A CN2011103132564 A CN 2011103132564A CN 201110313256 A CN201110313256 A CN 201110313256A CN 102502276 A CN102502276 A CN 102502276A
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- clamp arm
- adapter plate
- hinge seat
- ingot
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Abstract
The invention discloses a special fixture used for a stacking robot of a continuous casting production line of aluminum ingots. The special fixture is used for the stacking of molded aluminum ingots on a continuous casting production line of the aluminum ingots. A detecting cylinder (13) is fixed at the lower surface of a sole plate (12); a terminal end of a piston rod of the detecting cylinder (13) is provided with a detection disk (37); the whole fixture is connected with a robot through a connecting base (17); and after the aluminum ingots (78) are well arranged at ingot arrangement stations of a layer conveyor, the special fixture drops to a capturing position under the driving of the stacking robot, front and back clamping claws are closed under the action of a cylinder (73) and a cylinder (73) to clamp each ingot, and left and right ingot supporting claws support aluminum ingots outside an aluminum ingot layer under the action of a cylinder (38) and a cylinder (30).
Description
Technical field
The present invention relates to the professional equipment of continuous casting production line of aluminum ingots.
Background technology
Existing continuous casting production line of aluminum ingots piling anchor clamps have two kinds: a kind of is the domestic little tonnage continuous casting production line of aluminum ingots (unit clamp of piler of productive capacity＜22t/h) that is widely used in.Anchor clamps move forward and backward and are driven by the anchor clamps dolly, and power is oil cylinder; Nextly on the anchor clamps drive by a cylinder.About two cylinders drive symmetrical jaw respectively through connecting rod, after aluminium ingot sequenced layer according to the order of sequence, unit clamp descended and to put that the effect lower clamp at cylinder separately is closed respectively for the symmetrical jaw in back in place, accomplishes the work of ground floor folder ingot.Piler works on then; With the aluminium ingot layer of clamping from arranging on the frame gripping and rise and being transported to stacking station top; Anchor clamps half-twist and the descend symmetrical jaw in back that puts in place is opened at the effect lower clamp of cylinder separately respectively; Accomplish piling, the anchor clamps rotation is accomplished by the rotary cylinder on the piler.The work of second layer folder ingot piling is the same with the ground floor action, is not half-twists of anchor clamps.Repeat above-mentioned action and accomplish the 3rd layer to the work of eleventh floor folder ingot piling.This anchor clamps are owing to mechanism design is unreasonable; Phenomenon at random appears in anchor clamps easily in rising, decline, rotation, operational process; Phenomenon at random appears when especially big of gripping ground floor all makes progress four blocks of aluminium ingots more easily; Often need artificial auxiliary secondary row ingot behind the piling, thereby can't guarantee that the aluminium ingot piling normally carries out, even cause serious safety misadventure;
Second kind is the external robot palletizer unit clamp that generally uses.More representational is the unit clamp that piece is grabbed robot (at every turn grasping an aluminium ingot) that is applied to of Switzerland Mai Cigaoqi.Be furnished with two robots that unit clamp is housed at the piling station of continuous casting production line of aluminum ingots and move extracting and the piling that fork truck is realized aluminium ingot with the buttress ingot.This unit clamp also will be realized the upset overlap joint of aluminium ingot simultaneously owing to be the every independent snatch of aluminium ingot, and a yard aluminium ingot that comes out is piled up neatly the ingot that looses easily like this, have a strong impact on the reliability of manufacturing line, and frequent snatch makes that the life-span of anchor clamps is shorter.In addition, a manufacturing line is equipped with two production machines people, two sleeve clamps and buttress ingot and moves fork truck, and cost is high.
Summary of the invention
The purpose of this invention is to provide a kind of unit clamp that is used for the continuous casting production line of aluminum ingots robot palletizer.
The present invention is the unit clamp that is used for the continuous casting production line of aluminum ingots robot palletizer; Chuck body is to be formed by connecting on base plate 12 and column 16; Column 16 is below base plate 12, and Connection Block 17 is connected the top of base plate 12, and all is in center position; Detect cylinder 13 and be fixed on the lower surface of base plate 12, the end that detects cylinder 13 piston rods is equipped with detection dish 37; Adapter plate 79, adapter plate 77 and adapter plate 80 are connected to the lower end of clamp arm 59, clamp arm 54 and clamp arm 50; Clamping piece 57 interconnects with adapter plate 79, adapter plate 77, adapter plate 80; Anchor shaft 60 passes the hole at clamp arm 59, clamp arm 54 and clamp arm 50 middle parts successively and links together; Equidistantly arrange between clamp arm 59, clamp arm 54 and the clamp arm 50; Adapter plate 3, adapter plate 34 and adapter plate 26 are connected to the lower end of clamp arm 4, clamp arm 33 and clamp arm 25; Clamping piece 36 is connected mutually with adapter plate 3, adapter plate 34, adapter plate 26; Anchor shaft 6 passes the hole at clamp arm 4, clamp arm 33 and clamp arm 25 middle parts successively and links together; Equidistantly arrange between clamp arm 4, clamp arm 33 and the clamp arm 25; Hinge seat 62, hinge seat 56 and hinge seat 48 equidistantly are connected the lateral surface of riser 74, and hinge seat 64, hinge seat 39 and hinge seat 46 equidistantly are connected the lateral surface of riser 19, and the realization chuck body is connected with the front and back jaw; Axle 1 passes the hole of holding up ingot arm 5 lower ends, pinching roller 63 and the empty respectively two ends that are enclosed within axle 1 of pinching roller 2, and pass through jump ring and realize axial location; Between pinching roller 63, pinching roller 2 and the axle 1 all is to be dynamically connected; Hinge seat 10 is connected the lateral surface middle part of riser 11; Hold up ingot arm 5 upper ends that one through hole is arranged, hold up ingot arm 5 to be connected with hinge seat 10 through hinge axis 9; Axle 28 passes the hole of holding up ingot arm 27 lower ends, pinching roller 47 and the empty respectively two ends that are enclosed within axle 28 of pinching roller 29, and pass through jump ring and realize axial location; Between pinching roller 47, pinching roller 29 and the axle 28 all is to be dynamically connected; Hinge seat 21 is connected the lateral surface middle part of riser 20; Hold up ingot arm 27 upper ends that one through hole is arranged, hold up ingot arm 27 to be connected with hinge seat 21, hold up being connected of ingot pawl and chuck body about having realized through hinge axis 22.Whole anchor clamps are connected with robot through Connection Block 17.
The relative prior art of the invention, its beneficial effect are under the condition that does not increase mechanism's complexity and cost, have realized automatic gripping aluminium ingot easily and have accomplished piling.Guaranteed extracting aluminium ingot position accurately, reliable in action, piling be neat; Problems such as ingot, diffusing ingot have been guaranteed when piling is produced, can not occur losing; Thereby improved the production efficiency of complete machine effectively, realized automatic stacking fully, guaranteed that yard aluminium ingot that goes out buttress is neat, attractive in appearance, buttress does not loose when transporting.
Description of drawings:
Fig. 1 is the front view of the invention, and Fig. 2 is the birds-eye view of Fig. 1, and Fig. 3 is the left view of Fig. 1.
The specific embodiment
Like Fig. 1, Fig. 2, shown in Figure 3, chuck body of the present invention is to be welded by base plate 12 and riser 11, riser 14, riser 18, riser 19, riser 20 and riser 74.Column 16 is to be welded by plate 35, plate 32, plate 69 and plate 70.Column 16 is welded on base plate 12 belows, and Connection Block 17 is welded on the top of base plate 12, and all is in center position.
Preceding jaw is made up of clamp arm 59, clamp arm 54, clamp arm 50, clamping piece 57, adapter plate 79, adapter plate 77, adapter plate 80 and anchor shaft 60.Adapter plate 79, adapter plate 77 and adapter plate 80 are welded on the lower end of clamp arm 59, clamp arm 54 and clamp arm 50 respectively.Clamping piece 57 is connected through the bolt group with adapter plate 79, adapter plate 77, adapter plate 80.Anchor shaft 60 passes the hole and the weld together at clamp arm 59, clamp arm 54 and clamp arm 50 middle parts successively.Equidistantly arrange between clamp arm 59, clamp arm 54 and the clamp arm 50.
Rear clip-claw is made up of clamp arm 4, clamp arm 33, clamp arm 25, clamping piece 36, adapter plate 3, adapter plate 34, adapter plate 26 and anchor shaft 6.Adapter plate 3, adapter plate 34 and adapter plate 26 are welded on the lower end of clamp arm 4, clamp arm 33 and clamp arm 25 respectively.Clamping piece 36 is connected through the bolt group with adapter plate 3, adapter plate 34, adapter plate 26.Anchor shaft 6 passes the hole and the weld together at clamp arm 4, clamp arm 33 and clamp arm 25 middle parts successively.Equidistantly arrange between clamp arm 4, clamp arm 33 and the clamp arm 25.
A left side holds up the ingot pawl by pinching roller 63, pinching roller 2, axle 1 with hold up ingot arm 5 to form.Axle 1 passes the hole of holding up ingot arm 5 lower ends, pinching roller 63 and the empty respectively two ends that are enclosed within axle 1 of pinching roller 2, and pass through jump ring and realize axial location.Between pinching roller 63, pinching roller 2 and the axle 1 all is to be dynamically connected.Hinge seat 10 is welded on the lateral surface middle part of riser 11.Hold up ingot arm 5 upper ends that one through hole is arranged, hold up ingot arm 5 to be connected with hinge seat 10, realized left holding up being connected of ingot pawl and chuck body through hinge axis 9.
The right side holds up the ingot pawl by pinching roller 47, pinching roller 29, axle 28 with hold up ingot arm 27 to form.Axle 28 passes the hole of holding up ingot arm 27 lower ends, pinching roller 47 and the empty respectively two ends that are enclosed within axle 28 of pinching roller 29, and pass through jump ring and realize axial location.Between pinching roller 47, pinching roller 29 and the axle 28 all is to be dynamically connected.Hinge seat 21 is welded on the lateral surface middle part of riser 20.Hold up ingot arm 27 upper ends that one through hole is arranged, hold up ingot arm 27 to be connected with hinge seat 21, realized that the right side holds up being connected of ingot pawl and chuck body through hinge axis 22.
The tailstock 68 of cylinder 67 is fixed on the plate 69 of column 16, and an other end is hinged with clamp arm 33 through cylinder connector 75, hinge axis 41.The tailstock 71 of cylinder 73 is fixed on the plate 70 of column 16, and an other end is hinged with clamp arm 54 through cylinder connector 76, hinge axis 55.The tailstock 15 of cylinder 38 is fixed on the plate 35 of column 16, and an other end is through cylinder connector 8, hinge axis 7 and hold up ingot arm 5 hinged.The tailstock 31 of cylinder 30 is fixed on the plate 32 of column 16, and an other end is through cylinder connector 23, hinge axis 24 and hold up ingot arm 27 hinged.Detect cylinder 13 and be bolted on the base plate 12 through four, the end that detects cylinder 13 piston rods is equipped with detection dish 37.
Whole anchor clamps are connected with robot through Connection Block 17.
Owing to be limited to 300kg on the rated load of robot; Consider the working environment of anchor clamps, the weight of snatch aluminium ingot and the rigidity and the intensity of anchor clamps itself; The weight strictness of these anchor clamps is limited in below the 150kg, so base plate 12, clamping piece 36 and the clamping piece 57 of anchor clamps be designed to the form of hollow out.Clamping piece 36 with clamping piece 57 in working order the time (during clamped condition) horizontal by 85 ° of angles.
When initial condition, robot is in origin position, anchor clamps directly over layer transport plane permutation station, the front and back jaw with about hold up the ingot pawl to be in open configuration.When the ground floor aluminium ingot after permutation station marshalling; Robot drive anchor clamps drop to after the permutation station before and after jaw with about hold up the ingot pawl under the promotion of cylinder 73, cylinder 67, cylinder 38 and cylinder 30, to move layer aluminium ingot clamped; Robot is transported to layer aluminium ingot according to the path action that configures the buttress position of finished product transport plane then; Before and after jaw with about hold up the ingot pawl to open; Detect cylinder 13 and drive the upper surface that detection dish 37 drops to the ground floor aluminium ingot, detect the height of ground floor aluminium ingot upper surface, the height that anchor clamps descend during for second layer aluminium ingot piling provides foundation.Detection cylinder 13 resets after detecting completion, and robot drives anchor clamps and resets, and accomplishes the piling of ground floor aluminium ingot.In the process of ground floor piling, layer transport plane descends the work of one deck aluminium ingot permutation row ingot simultaneously, and second layer aluminium ingot was just arranged and finished after robot resetted; Robot drive anchor clamps after dropping to the permutation station clamp second layer aluminium ingot; Robot is according to the path action that configures then, and robot drive anchor clamps and second layer aluminium ingot rotate 90 ° in the process that second layer aluminium ingot is transported to finished product transport plane piling buttress position, and second layer aluminium ingot is piled up on the ground floor aluminium ingot; Then before and after jaw with about hold up the ingot pawl to open; Detect cylinder 13 and drive the upper surface that detection dish 37 drops to second layer aluminium ingot, detect the height of second layer aluminium ingot upper surface, detect cylinder 13 after detection finishes and reset; Robot drives anchor clamps and resets, and accomplishes the piling of second layer aluminium ingot.All the other processes above each layer repetition.
11 layers of every buttress aluminium ingots, wherein ground floor is 4 blocks of aluminium ingots, and all the other each layers are 5 blocks of aluminium ingots, and even level need rotate 90 °, and the action of whole piling process realizes by the PLC of system control.
Claims (3)
1. the unit clamp that is used for the continuous casting production line of aluminum ingots robot palletizer; Chuck body is to be formed by connecting on base plate (12) and column (16); Column (16) is in base plate (12) below, and Connection Block (17) is connected the top of base plate (12), and all is in center position; It is characterized in that detecting cylinder (13) and be fixed on the lower surface of base plate (12), the end that detects cylinder (13) piston rod is equipped with detection dish (37); First adapter plate (79), second adapter plate (77) and the 3rd adapter plate (80) are connected to the lower end of first clamp arm (59), second clamp arm (54) and the 3rd clamp arm (50); First clamping piece (57) interconnects with first adapter plate (79), second adapter plate (77), the 3rd adapter plate (80); First anchor shaft (60) passes the hole at first clamp arm (59), second clamp arm (54) and the 3rd clamp arm (50) middle part successively and links together; Equidistantly arrange between first clamp arm (59), second clamp arm (54) and the 3rd clamp arm (50); The 4th adapter plate (3), the 5th adapter plate (34) and the 6th adapter plate (26) are connected to the lower end of the 4th clamp arm (4), the 5th clamp arm (33) and the 6th clamp arm (25); Second clamping piece (36) is connected mutually with the 4th adapter plate (3), the 5th adapter plate (34), the 6th adapter plate (26); Second anchor shaft (6) passes the hole at the 4th clamp arm (4), the 5th clamp arm (33) and the 6th clamp arm (25) middle part successively and links together; Equidistantly arrange between the 4th clamp arm (4), the 5th clamp arm (33) and the 6th clamp arm (25); First hinge seat (62), second hinge seat (56) and the 3rd hinge seat (48) equidistantly are connected the lateral surface of first riser (74); The 4th hinge seat (64), the 5th hinge seat (39) and the 6th hinge seat (46) equidistantly are connected the lateral surface of second riser (19), and the realization chuck body is connected with the front and back jaw; Primary shaft (1) pass first hold up ingot arm (5) lower end the hole, first pinching roller (63) and second pinching roller (2) sky respectively are enclosed within the two ends of primary shaft (1), and realize axial location through jump ring; Between first pinching roller (63), second pinching roller (2) and the primary shaft (1) all is to be dynamically connected; The 7th hinge seat (10) is connected the lateral surface middle part of the 3rd riser (11); First holds up ingot arm (5) upper end that one through hole is arranged, and first holds up ingot arm (5) to be connected with the 7th hinge seat (10) through first hinge axis (9); Second (28) pass second hold up ingot arm (27) lower end the hole, the 3rd pinching roller (47) and the 4th pinching roller (29) sky respectively are enclosed within the two ends of second (28), and realize axial location through jump ring; Between the 3rd pinching roller (47), the 4th pinching roller (29) and second (28) all is to be dynamically connected; The 8th hinge seat (21) is connected the lateral surface middle part of the 4th riser (20); Second holds up ingot arm (27) upper end that one through hole is arranged, and second holds up ingot arm (27) to be connected with the 8th hinge seat (21) through second hinge axis (22), holds up being connected of ingot pawl and chuck body about having realized; Whole anchor clamps are connected with robot through Connection Block (17).
2. the unit clamp that is used for the continuous casting production line of aluminum ingots robot palletizer according to claim 1; It is characterized in that chuck body is to be welded by base plate (12) and column (16); Connection Block (17) is welded on the top of base plate (12); Detect cylinder (13) through four lower surfaces that are bolted to base plate (12), first adapter plate (79), second adapter plate (77) and the 3rd adapter plate (80) are welded on the lower end of first clamp arm (59), second clamp arm (54) and the 3rd clamp arm (50) respectively; First clamping piece (57) is connected through the bolt group with first adapter plate (79), second adapter plate (77), the 3rd adapter plate (80); First anchor shaft (60) passes the hole and the weld together at first clamp arm (59), second clamp arm (54) and the 3rd clamp arm (50) middle part successively; The 4th adapter plate (3), the 5th adapter plate (34) and the 6th adapter plate (26) are welded on the lower end of the 4th clamp arm (4), the 5th clamp arm (33) and the 6th clamp arm (25) respectively; Second clamping piece (36) is connected through the bolt group with the 4th adapter plate (3), the 5th adapter plate (34), the 6th adapter plate (26); Second anchor shaft (6) passes the hole and the weld together at the 4th clamp arm (4), the 5th clamp arm (33) and the 6th clamp arm (25) middle part successively; First hinge seat (62), second hinge seat (56) and the 3rd hinge seat (48) equidistantly are welded on the lateral surface of first riser (74); The 4th hinge seat (64), the 5th hinge seat (39) and the 6th hinge seat (46) equidistantly are welded on the lateral surface of second riser (19), and the 7th hinge seat (10) is welded on the lateral surface middle part of the 3rd riser (11); The 8th hinge seat (21) is welded on the lateral surface middle part of the 4th riser (20).
3. the unit clamp that is used for the continuous casting production line of aluminum ingots robot palletizer according to claim 1 is characterized in that base plate (12), second clamping piece (36) and first clamping piece (57) are the structure of hollow out; Second clamping piece (36) and first clamping piece (57) be in working order the time, promptly during clamped condition horizontal by 85 ° of angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103132564A CN102502276A (en) | 2011-10-17 | 2011-10-17 | Special fixture used for stacking robot of continuous casting production line of aluminum ingots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103132564A CN102502276A (en) | 2011-10-17 | 2011-10-17 | Special fixture used for stacking robot of continuous casting production line of aluminum ingots |
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| CN102502276A true CN102502276A (en) | 2012-06-20 |
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| CN2011103132564A Pending CN102502276A (en) | 2011-10-17 | 2011-10-17 | Special fixture used for stacking robot of continuous casting production line of aluminum ingots |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103318652A (en) * | 2013-01-21 | 2013-09-25 | 江苏中科友特机器人科技有限公司 | Mechanical arm paw for robot palletizer and manufacturing method of mechanical arm paw |
| CN103523539A (en) * | 2012-07-05 | 2014-01-22 | 兰州理工大学 | Special buffering device for aluminum ingot continuous casting production line palletizing robot |
| CN107381078A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人系统股份有限公司 | A kind of composite fixture of Palletised carry robot |
| CN107640576A (en) * | 2017-09-18 | 2018-01-30 | 广州长仁工业科技有限公司 | A kind of high temperature aluminium ingot tong frock |
| CN110154067A (en) * | 2019-04-10 | 2019-08-23 | 中国矿业大学 | A kind of high-speed overload Stacking Robots self-locking end effector |
| CN111590628A (en) * | 2020-06-10 | 2020-08-28 | 嘉善荣德金属制品股份有限公司 | Metal product clamping mechanism convenient to adjust |
| CN114104364A (en) * | 2021-12-07 | 2022-03-01 | 南京华捷飞智能科技有限公司 | Automatic stacker crane for technological process of rare earth permanent magnet industry |
| CN114715662A (en) * | 2022-03-15 | 2022-07-08 | 成都晶宝时频技术股份有限公司 | Automatic material turning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103523539A (en) * | 2012-07-05 | 2014-01-22 | 兰州理工大学 | Special buffering device for aluminum ingot continuous casting production line palletizing robot |
| CN103318652A (en) * | 2013-01-21 | 2013-09-25 | 江苏中科友特机器人科技有限公司 | Mechanical arm paw for robot palletizer and manufacturing method of mechanical arm paw |
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| CN107640576A (en) * | 2017-09-18 | 2018-01-30 | 广州长仁工业科技有限公司 | A kind of high temperature aluminium ingot tong frock |
| CN107640576B (en) * | 2017-09-18 | 2023-12-01 | 广州长仁工业科技有限公司 | High temperature aluminum ingot tong frock |
| CN110154067A (en) * | 2019-04-10 | 2019-08-23 | 中国矿业大学 | A kind of high-speed overload Stacking Robots self-locking end effector |
| CN110154067B (en) * | 2019-04-10 | 2020-08-11 | 中国矿业大学 | Self-locking type end effector of high-speed heavy-load stacking robot |
| CN111590628A (en) * | 2020-06-10 | 2020-08-28 | 嘉善荣德金属制品股份有限公司 | Metal product clamping mechanism convenient to adjust |
| CN114104364A (en) * | 2021-12-07 | 2022-03-01 | 南京华捷飞智能科技有限公司 | Automatic stacker crane for technological process of rare earth permanent magnet industry |
| CN114715662A (en) * | 2022-03-15 | 2022-07-08 | 成都晶宝时频技术股份有限公司 | Automatic material turning device |
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Application publication date: 20120620 |