CN111268419A - A kind of aluminum ingot palletizer for automatic criss-cross palletizing - Google Patents

A kind of aluminum ingot palletizer for automatic criss-cross palletizing Download PDF

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Publication number
CN111268419A
CN111268419A CN202010198271.8A CN202010198271A CN111268419A CN 111268419 A CN111268419 A CN 111268419A CN 202010198271 A CN202010198271 A CN 202010198271A CN 111268419 A CN111268419 A CN 111268419A
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plate
clamping
translation
automatic
criss
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宜亚丽
张东飞
张爽
金贺荣
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Yanshan University
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Yanshan University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/02Stacking of articles by adding to the top of the stack
    • B65G57/16Stacking of articles of particular shape
    • B65G57/20Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention relates to an automatic criss-cross stacking aluminum ingot stacker crane which comprises a rack assembly, a translation mechanism, a lifting mechanism and a clamping mechanism, wherein the translation mechanism is connected between the front side and the rear side of the top of the rack assembly in a sliding mode, the lifting mechanism and the clamping mechanism are arranged below the translation mechanism at certain intervals in sequence, the lifting mechanism and the clamping mechanism are connected through a rotating structure, and a conveying mechanism and a stacking platform are arranged below the left side and the right side of the clamping mechanism respectively. The invention can clamp a plurality of aluminum ingots by one-time clamping action, improves the stacking efficiency, and can arrange the clamped aluminum ingots together tightly and neatly; and utilize the raising and lowering functions of pile up neatly platform itself, the lower surface that makes the top layer aluminium ingot on the tray get back to the original height with fixture when centre gripping aluminium ingot is in same level, and the aluminium ingot need not elevating system work after transporting pile up neatly platform top, has reduced pile up neatly in-process fixture's motion stroke, can promote pile up neatly efficiency by a wide margin.

Description

一种自动纵横交错码垛的铝锭码垛机A kind of aluminum ingot palletizer for automatic criss-cross palletizing

技术领域technical field

本发明涉及铝锭生产技术领域,尤其涉及一种自动纵横交错码垛的铝锭码垛机。The invention relates to the technical field of aluminum ingot production, in particular to an aluminum ingot stacker for automatic criss-cross stacking.

背景技术Background technique

铝锭生产中,需要将脱模后的铝锭进行码垛,方便对其存储和运输,而目前的码垛大多采用人工码垛方式,由于铝锭质量大,人工劳动强度大,需要多名工人参与作业,码垛效率低,占用大量劳动力;同时,码垛不整齐会发生铝锭掉落的情况,存在安全隐患,因此非常需要一种自动的铝锭码垛装置来代替人工码垛。In the production of aluminum ingots, it is necessary to stack the demolded aluminum ingots to facilitate their storage and transportation. However, the current palletizing method is mostly manual palletizing. Due to the high quality of aluminum ingots and high labor intensity, multiple Workers participate in the operation, the stacking efficiency is low, and it takes up a lot of labor; at the same time, if the stacking is not neat, the aluminum ingots will fall, and there are potential safety hazards. Therefore, an automatic aluminum ingot stacking device is very much needed to replace manual stacking.

为了解决上述问题,申请号为201210045890.9的专利公开了“一种用于铝锭连续铸造生产线的伺服码垛机”,该伺服码垛机由移动机构和升降机构组成,可以对铝锭自动码垛;申请号为201821508292.X的专利则公开了“一种铝锭码垛装置”,该码垛装置通过齿盘和托盘齿轮传动比为4:(2n-1),n≥1,实现铝锭的自动纵横交错码垛;上述两项专利虽然在一定程度上解决了码垛强度大、码垛效率低、浪费劳动力以及存在安全隐患等问题,但是上述两项技术方案在码垛前同样需要人工或其他机构将铝锭整齐排成一列,才能完成码垛,因此现有的码垛装置在码垛的过程中能否产生理想的技术效果还有待于进一步探讨。In order to solve the above problems, the patent application No. 201210045890.9 discloses "a servo palletizer for aluminum ingot continuous casting production line", the servo palletizer is composed of a moving mechanism and a lifting mechanism, which can automatically stack aluminum ingots ; The patent with the application number of 201821508292.X discloses "a kind of aluminum ingot stacking device". The stacking device has a gear ratio of 4:(2n-1) and n≥1 through the toothed disc and the tray, and realizes the realization of aluminum ingots. automatic criss-cross palletizing; although the above two patents solve the problems of high palletizing intensity, low palletizing efficiency, wasted labor and potential safety hazards to a certain extent, the above two technical solutions also require manual labor before palletizing. Or other mechanisms can arrange the aluminum ingots neatly in a row to complete the stacking. Therefore, whether the existing stacking device can produce the ideal technical effect during the stacking process remains to be further explored.

发明内容SUMMARY OF THE INVENTION

针对上述问题,本发明的目的在于提供一种能够有效解决码垛强度大、码垛效率低以及码垛安全性差等问题的一种自动纵横交错码垛的铝锭码垛机。In view of the above problems, the purpose of the present invention is to provide an aluminum ingot palletizer that can effectively solve the problems of high stacking strength, low stacking efficiency and poor stacking safety.

本发明采用的技术方案如下:The technical scheme adopted in the present invention is as follows:

本发明所提出的一种自动纵横交错码垛的铝锭码垛机,所述码垛机包括机架组件和滑动连接在机架组件顶部前后两侧之间的平移机构,以及依次间隔一定距离的设置在平移机构下方的升降机构和夹持机构,所述升降机构和夹持机构之间通过旋转结构连接,且所述夹持机构左右两侧的下方分别设置有传送机构和码垛台。An aluminum ingot stacker for automatic criss-cross stacking proposed by the present invention includes a frame assembly and a translation mechanism slidably connected between the front and rear sides of the top of the frame assembly, and the stackers are sequentially spaced at a certain distance The lifting mechanism and the clamping mechanism are arranged below the translation mechanism. The lifting mechanism and the clamping mechanism are connected by a rotating structure, and a conveying mechanism and a palletizing platform are respectively provided under the left and right sides of the clamping mechanism.

进一步的,所述机架组件包括矩形架和对称设置在矩形架前后两侧顶部的直线滑轨,以及设置在矩形架左右两侧中部区域之间的齿条,且所述矩形架的四个角端底部均设置有支撑立柱。Further, the frame assembly includes a rectangular frame and linear slide rails symmetrically arranged on the tops of the front and rear sides of the rectangular frame, and racks arranged between the middle areas of the left and right sides of the rectangular frame, and the four The bottoms of the corner ends are provided with supporting columns.

进一步的,所述平移机构包括平移板和分别设置在平移板前后两侧底部的滑块,以及横向设置在平移板上表面中部区域的伺服电机I和纵向连接在伺服电机I输出端上的齿轮I;所述滑块分别与矩形架前后两侧顶部的直线滑轨滑动连接,所述齿轮I的底部穿过平移板与所述齿条啮合连接。Further, the translation mechanism includes a translation plate and sliders arranged at the bottoms of the front and rear sides of the translation plate respectively, and a servo motor I laterally arranged in the middle area of the upper surface of the translation plate and a gear longitudinally connected to the output end of the servo motor I. I; the sliders are respectively slidably connected to the linear slide rails on the tops of the front and rear sides of the rectangular frame, and the bottom of the gear I is meshed with the rack through the translation plate.

进一步的,所述升降机构包括升降板和设置在升降板上表面前后两侧的升降液压缸I,以及分别设置在升降板上表面四周的光轴,所述升降板通过升降液压缸I和光轴与所述平移板活动连接,且所述平移板与光轴连接处还设置有直线轴承。Further, the lifting mechanism includes a lifting plate and a lifting hydraulic cylinder 1 arranged on the front and rear sides of the upper surface of the lifting plate, and an optical axis that is respectively arranged on the upper surface of the lifting plate. The lifting plate passes the lifting hydraulic cylinder 1 and the optical axis. It is movably connected with the translation plate, and a linear bearing is also provided at the connection between the translation plate and the optical axis.

进一步的,所述旋转机构包括纵向设置在升降板上表面的伺服电机II和横向设置在升降板底部一侧且与伺服电机II输出端连接的齿轮II,以及固定连接在升降板下表面中部区域的回转支撑内圈,所述回转支撑内圈的外侧还设置有回转支撑外齿圈,且所述回转支撑外齿圈与齿轮II啮合连接。Further, the rotating mechanism includes a servo motor II longitudinally arranged on the upper surface of the lifting plate, a gear II laterally arranged on one side of the bottom of the lifting plate and connected to the output end of the servo motor II, and a gear II that is fixedly connected to the middle area of the lower surface of the lifting plate. The slewing support inner ring is also provided with a slewing support outer gear ring on the outside of the slewing support inner ring, and the slewing support outer gear ring is meshed and connected with the gear II.

进一步的,所述夹持机构包括固定板和对称设置在固定前后两侧底端中部区域的夹持液压缸,以及分别设置在固定板底部两侧并与夹持液压缸相连接的夹板组件,且所述固定板上表面的中部区域与所述回转支撑外齿圈固定连接。Further, the clamping mechanism includes a fixing plate and clamping hydraulic cylinders symmetrically arranged in the middle regions of the bottom ends of the front and rear sides of the fixing plate, and clamping plate assemblies respectively arranged on both sides of the bottom of the fixing plate and connected with the clamping hydraulic cylinders, And the middle area of the upper surface of the fixed plate is fixedly connected with the outer ring gear of the slewing support.

进一步的,所述夹板组件包括中部区域与夹持液压缸相连接的推拉板和与推拉板上端部铰接的夹持板,所述推拉板的左右两侧设置有对称分布的滑孔,且所述滑孔内设置有具有一定曲率的滑动轴,所述滑动轴的另一端与夹持板连接,且所述滑动轴的外侧设置有弹簧,所述弹簧的两端分别与推拉板和夹持板相连接。Further, the clamping plate assembly includes a push-pull plate connected with the clamping hydraulic cylinder in the middle region and a clamping plate hinged with the upper end of the push-pull plate, and symmetrically distributed sliding holes are arranged on the left and right sides of the push-pull plate. A sliding shaft with a certain curvature is arranged in the sliding hole, the other end of the sliding shaft is connected with the clamping plate, and a spring is arranged on the outer side of the sliding shaft, and the two ends of the spring are respectively connected with the push-pull plate and the clamping plate. board is connected.

进一步的,所述码垛台包括底板和设置在底板上表面四角区域的升降液压缸II,以及连接在四个升降液压缸II活塞杆顶部的码垛平台,所述码垛平台的上表面设置有托盘,且所述底板上表面的中部区域设置有红外测距仪。Further, the palletizing platform includes a bottom plate and lifting hydraulic cylinders II arranged on the four corners of the upper surface of the bottom plate, and a stacking platform connected to the top of the piston rods of the four lifting hydraulic cylinders II, the upper surface of the stacking platform is provided with There is a tray, and an infrared range finder is arranged in the middle area of the upper surface of the bottom plate.

进一步的,所述传送机构包括辊子输送机和通过限位架固定在辊子输送机左端部两侧之间上方的升降液压缸III,以及设置在升降液压缸III下方且与升降液压缸III的活塞杆相连接的挡料板I,所述挡料板I的一侧设置有红外计数器,且所述辊子输送机右侧的末端还设置有挡料板II。Further, the conveying mechanism includes a roller conveyor and a lifting hydraulic cylinder III that is fixed above the left end of the roller conveyor through a limit frame, and a piston arranged under the lifting hydraulic cylinder III and connected to the lifting hydraulic cylinder III. The baffle plate I connected with the rod, one side of the baffle plate I is provided with an infrared counter, and the end of the right side of the roller conveyor is also provided with a baffle plate II.

本发明与现有技术相比具有以下有益效果:Compared with the prior art, the present invention has the following beneficial effects:

1、本发明所提出的一种自动纵横交错码垛的铝锭码垛机的各机构由PLC控制系统进行集中控制,当每层铝锭完成码垛后,启动升降液压缸II,带动码垛平台向下移动,并将红外测距仪的测量结果输入到PLC控制系统进行反馈实现精准定位,使码垛平台每次下降一个铝锭高度,使托盘上最顶层铝锭的上表面与夹持机构回到原始高度后所夹持铝锭的下表面处在同一水平高度,这样每次夹持机构夹取铝锭并运行到码垛平台上方时,只需松开夹持板就完成此层铝锭的码垛,不需要升降液压缸I带动升降机构、旋转机构和夹持机构下降后,再松开夹持板放置铝锭,减少了码垛过程中夹持机构的运动行程,有利于提高码垛效率;1. The various mechanisms of the aluminum ingot stacker for automatic criss-cross stacking proposed by the present invention are centrally controlled by the PLC control system. After each layer of aluminum ingots is completed, the lifting hydraulic cylinder II is activated to drive the stacking. The platform moves down, and the measurement results of the infrared range finder are input into the PLC control system for feedback to achieve precise positioning, so that the palletizing platform is lowered one ingot height at a time, so that the upper surface of the top aluminum ingot on the pallet is clamped After the mechanism returns to the original height, the lower surface of the clamped aluminum ingot is at the same level, so that every time the clamping mechanism clamps the aluminum ingot and runs to the top of the palletizing platform, it is only necessary to release the clamping plate to complete the layer. The stacking of aluminum ingots does not require a lifting hydraulic cylinder. After the lifting mechanism, the rotating mechanism and the clamping mechanism are driven down, the clamping plate is released to place the aluminum ingot, which reduces the movement stroke of the clamping mechanism during the stacking process, which is beneficial to Improve palletizing efficiency;

2、利用回转支撑与伺服电机组合进行旋转,旋转过程稳定、精度高;2. Using the combination of slewing support and servo motor for rotation, the rotation process is stable and the precision is high;

3、铝锭在辊子输送机上运动到末端时被挡料板II挡住,停留在辊子输送机末端,由于转动的辊子和铝锭之间存在滑动摩擦力,使各铝锭之间紧密贴合在一起并排成一排,并通过夹持机构的夹取使整排铝锭两端对齐,实现了一次夹取动作就能夹取多个铝锭,提高码垛效率,并且夹取的铝锭紧密且整齐的排列在一起;同时,当红外计数器计数到规定数值时,PLC控制系统启动升降液压缸III,带动挡料板I下降,阻挡铝锭继续向辊子输送机末端输送,保证每层铝锭数目固定,防止因铝锭数目超出预期而影响夹持机构对铝锭的夹持。3. When the aluminum ingot moves to the end of the roller conveyor, it is blocked by the baffle plate II and stays at the end of the roller conveyor. Due to the sliding friction between the rotating roller and the aluminum ingot, the aluminum ingots are closely attached to each other. They are arranged side by side in a row, and the two ends of the entire row of aluminum ingots are aligned by the clamping mechanism, so that multiple aluminum ingots can be clamped in one clamping action, which improves the stacking efficiency, and the clamped aluminum ingots are compact and compact. They are neatly arranged together; at the same time, when the infrared counter counts to the specified value, the PLC control system starts the lifting hydraulic cylinder III, which drives the baffle plate I to descend, preventing the aluminum ingots from continuing to be transported to the end of the roller conveyor, ensuring the number of aluminum ingots per layer. Fixed to prevent the clamping mechanism of the aluminum ingot from being affected by the number of aluminum ingots exceeding expectations.

附图说明Description of drawings

图1是本发明所提出的一种自动纵横交错码垛的铝锭码垛机一个实施例的整体结构示意图;1 is a schematic diagram of the overall structure of an embodiment of an aluminum ingot stacker for automatic criss-cross stacking proposed by the present invention;

图2是图1中平移机构和升降机构连接的结构示意图;Fig. 2 is the structural representation of the connection between the translation mechanism and the lifting mechanism in Fig. 1;

图3是图1中旋转机构和夹持机构连接的结构示意图;Fig. 3 is the structural representation of the connection between the rotating mechanism and the clamping mechanism in Fig. 1;

图4是图3中夹持机构的底部结构示意图;Fig. 4 is the bottom structure schematic diagram of the clamping mechanism in Fig. 3;

图5是图1中码垛台的结构示意图;Fig. 5 is the structural representation of the palletizing table in Fig. 1;

图6是图1中传送机构的结构示意图。FIG. 6 is a schematic structural diagram of the conveying mechanism in FIG. 1 .

具体实施方式Detailed ways

为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图做以简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

需要说明的是,在本发明的描述中,术语“上”、“下”、“顶部”、“底部”、“一侧”、“另一侧”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指装置或元件必须具有特定的方位、以特定的方位构造和操作。It should be noted that in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc. The orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not mean that a device or element must have a specific orientation, be constructed and operated in a specific orientation.

参见图1,给出了本发明所提出的一种自动纵横交错码垛的铝锭码垛机的一个实施例的具体结构。该码垛机包括机架组件1、平移机构2、升降机构3、夹持机构4、旋转机构5、码垛台6和传送机构7;且所述码垛机由PLC控制系统进行集中控制。Referring to FIG. 1 , the specific structure of an embodiment of an aluminum ingot palletizer for automatic criss-cross palletizing proposed by the present invention is given. The palletizer includes a frame assembly 1, a translation mechanism 2, a lifting mechanism 3, a clamping mechanism 4, a rotating mechanism 5, a palletizing table 6 and a conveying mechanism 7; and the palletizer is centrally controlled by a PLC control system.

其中,所述机架组件1包括矩形架11,所述矩形架11前后两侧的顶部均设置有相互对称的直线滑轨12,所述矩形架11左右两侧的中部区域之间连接有齿条13,且在所述矩形架11的四个角端底部固定连接有四个用于支撑的支撑立柱14。The frame assembly 1 includes a rectangular frame 11 . The tops of the front and rear sides of the rectangular frame 11 are provided with mutually symmetrical linear slide rails 12 , and teeth are connected between the middle regions of the left and right sides of the rectangular frame 11 . 13, and four supporting uprights 14 for supporting are fixedly connected to the bottoms of the four corner ends of the rectangular frame 11.

所述平移机构2包括矩形结构的平移板21和分别设置在平移板21前后两侧底部的滑块22,所述滑块22分别与所述矩形架11前后两侧顶部的直线滑轨12滑动连接,以及横向设置在平移板21上表面中部区域的伺服电机I23和纵向连接在伺服电机I23输出端上的齿轮I24,所述齿轮I24的底部穿过平移板21与并所述齿条13相互啮合。The translation mechanism 2 includes a translation plate 21 with a rectangular structure and sliders 22 respectively arranged at the bottoms of the front and rear sides of the translation plate 21 . connected, and the servo motor I23 laterally arranged in the middle area of the upper surface of the translation plate 21 and the gear I24 longitudinally connected to the output end of the servo motor I23, the bottom of the gear I24 passing through the translation plate 21 and the rack 13 mesh.

所述升降机构3包括矩形结构的升降板31和分别对称设置在升降板31上表面前后两侧的升降液压缸I32,以及分别设置在升降板31上表面四角区域的光轴33,所述升降板31通过升降液压缸I32和光轴33与所述平移板21活动连接,且所述平移板21与光轴33的连接处还设置有直线轴承34,采用光轴33和直线轴承34配合使用,能够使升降过程更加稳定。The lifting mechanism 3 includes a lifting plate 31 with a rectangular structure, lifting hydraulic cylinders 132 symmetrically arranged on the front and rear sides of the upper surface of the lifting plate 31, and optical axes 33 respectively arranged in the four corner areas of the upper surface of the lifting plate 31. The plate 31 is movably connected with the translation plate 21 through the lifting hydraulic cylinder I32 and the optical axis 33, and a linear bearing 34 is also provided at the connection between the translation plate 21 and the optical axis 33, and the optical axis 33 and the linear bearing 34 are used together, It can make the lifting process more stable.

所述旋转机构4包括纵向设置在升降板31上表面的伺服电机II41和横向设置在升降板31底部一侧且与伺服电机II41的输出端连接的齿轮II42,以及固定连接在升降板31下表面中部区域的回转支撑内圈43,所述回转支撑内圈43的外侧还设置有回转支撑外齿圈44,且所述回转支撑外齿圈44与所述齿轮II42啮合连接。The rotating mechanism 4 includes a servo motor II41 longitudinally arranged on the upper surface of the lifting plate 31 and a gear II42 laterally arranged on the bottom side of the lifting plate 31 and connected to the output end of the servo motor II41, and fixedly connected to the lower surface of the lifting plate 31. The slewing support inner ring 43 in the middle area is also provided with a slewing support outer gear 44 on the outside of the slewing support inner ring 43 , and the slewing support outer gear 44 is meshed with the gear II42 .

所述夹持机构5包括矩形结构的固定板51和分别经限位板件对称连接在固定板51前后两侧底端中部区域的夹持液压缸52,以及分别设置在固定板51底部两侧并与夹持液压缸52相连接的夹板组件53,且所述固定板51上表面的中部区域与所述回转支撑外齿圈44的底部固定连接。The clamping mechanism 5 includes a fixed plate 51 with a rectangular structure, a clamping hydraulic cylinder 52 symmetrically connected to the middle area of the bottom end of the fixed plate 51 on the front and rear sides of the fixed plate 51 through the limit plate, and respectively arranged on both sides of the bottom of the fixed plate 51. The clamping plate assembly 53 is connected with the clamping hydraulic cylinder 52 , and the middle area of the upper surface of the fixing plate 51 is fixedly connected with the bottom of the outer ring gear 44 of the slewing support.

所述夹板组件53包括中部区域与夹持液压缸52固定连接的推拉板531和上端部与推拉板531上端部铰接的夹持板532,所述推拉板531的左右两侧设置有对称分布的滑孔,且所述滑孔内设置有具有一定曲率且直径小于滑孔直径的滑动轴533,所述滑动轴533穿过滑孔,且另一端与夹持板532相连接,且所述滑动轴533的外侧套设有弹簧534,所述弹簧534的两端分别与推拉板531和夹持板532相连接。The clamping plate assembly 53 includes a push-pull plate 531 whose middle region is fixedly connected with the clamping hydraulic cylinder 52 and a clamping plate 532 whose upper end is hinged to the upper end of the push-pull plate 531. The left and right sides of the push-pull plate 531 are provided with symmetrically distributed A sliding hole, and the sliding hole is provided with a sliding shaft 533 with a certain curvature and a diameter smaller than that of the sliding hole, the sliding shaft 533 passes through the sliding hole, and the other end is connected with the clamping plate 532, and the sliding shaft 533 passes through the sliding hole. A spring 534 is sleeved on the outer side of the shaft 533 , and both ends of the spring 534 are respectively connected with the push-pull plate 531 and the clamping plate 532 .

所述码垛台6位于机架组件1底部的右侧,并与夹持机构5的位置对应放置,所述码垛台6包括矩形结构的底板61和设置在底板61上表面四角区域的升降液压缸II62,所述升降液压缸II62的缸体与底板61固定连接,以及连接在四个升降液压缸II62活塞杆顶部的码垛平台63,所述码垛平台63的底部与所述升降液压缸II62的活塞杆固定连接,所述码垛平台63的上表面设置有用于放置铝锭8的托盘64,且所述底板61上表面的中部区域还安装有红外测距仪65。托盘64上每增加一层铝锭8,PLC控制系统即可控制升降液压缸II62启动,带动码垛平台63下降,同时红外测距仪65将测试结果输送到PLC控制系统中进行反馈,从而精准调整码垛平台63的高度。The palletizing table 6 is located on the right side of the bottom of the frame assembly 1 and is placed corresponding to the position of the clamping mechanism 5 . Hydraulic cylinder II62, the cylinder body of the lifting hydraulic cylinder II62 is fixedly connected to the bottom plate 61, and a stacking platform 63 connected to the top of the piston rods of the four lifting hydraulic cylinders II62, the bottom of the stacking platform 63 is connected to the lifting hydraulic cylinder The piston rods of the cylinder II62 are fixedly connected, the upper surface of the palletizing platform 63 is provided with a tray 64 for placing the aluminum ingots 8 , and an infrared range finder 65 is also installed in the middle area of the upper surface of the bottom plate 61 . Each time a layer of aluminum ingots 8 is added to the pallet 64, the PLC control system can control the lifting hydraulic cylinder II62 to start, driving the palletizing platform 63 to descend, and the infrared range finder 65 sends the test results to the PLC control system for feedback, so as to accurately Adjust the height of the palletizing platform 63 .

所述传送机构7位于机架组件1底部的左侧,并与夹持机构5的位置对应放置,所述传送机构7包括由支撑架71固定的辊子输送机72和通过限位架73固定在辊子输送机71左端部两侧之间上方的升降液压缸III74,以及设置在升降液压缸III74下方且与升降液压缸III74的活塞杆相连接的挡料板I75,所述挡料板I75的一侧设置有红外计数器76,且所述辊子输送机72右侧的末端还设置有挡料板II77;所述红外计数器76由PLC控制系统进行控制,实现自动计数,所述辊子输送机72末端的挡料板II77可将铝锭8阻挡在辊子输送机72的末端,利用转动辊子和铝锭8之间存在的滑动摩擦力使铝锭8之间紧密贴合并排成一排。The conveying mechanism 7 is located on the left side of the bottom of the frame assembly 1, and is placed corresponding to the position of the clamping mechanism 5. The conveying mechanism 7 includes a roller conveyor 72 fixed by a support frame 71 and a roller conveyor 72 fixed by a limit frame 73. The lifting hydraulic cylinder III74 above between the two sides of the left end of the roller conveyor 71, and the baffle plate I75 arranged under the lifting hydraulic cylinder III74 and connected with the piston rod of the lifting hydraulic cylinder III74, one of the baffle plates I75. The side is provided with an infrared counter 76, and the end on the right side of the roller conveyor 72 is also provided with a baffle plate II77; the infrared counter 76 is controlled by the PLC control system to realize automatic counting. The baffle plate II77 can block the aluminum ingots 8 at the end of the roller conveyor 72, and use the sliding friction between the rotating rollers and the aluminum ingots 8 to make the aluminum ingots 8 closely fit and line up in a row.

本发明的整个工作过程由PLC控制系统自动控制。脱模后的铝锭8可通过辊子输送机72进行输送,同时红外计数器76开始对铝锭8进行计数,并将计数结果传输到PLC控制系统,同时PLC控制系统启动伺服电动机I23,伺服电动机I23带动齿轮I24转动,齿轮I24通过与齿条13啮合传动,带动平移机构2、升降机构3、旋转机构4和夹持机构5运动到夹持工位上方,当红外计数器76计数到规定数值时,PLC控制系统启动升降液压缸III74,升降液压缸III74带动挡料板I75下降,阻止铝锭8继续向辊子输送机72的末端运输,保证每排铝锭8数目相同,同时PLC控制系统启动升降液压缸I32,当升降液压缸I32带动升降机构3、旋转机构4和夹持机构5下降到辊子传送机72上方一定位置时,PLC控制系统启动夹持液压缸52,夹持液压缸52带动夹持板532夹紧整排铝锭8;完成整排铝锭8的夹取后,PLC控制系统再次启动升降液压缸I32,带动升降机构3、旋转机构4和夹持机构5和整排铝锭8上升到原始位置,同时PLC控制系统启动升降液压缸III74,带动挡料板I75上升到原始位置,铝锭8继续向辊子输送机72末端输送;接着PLC控制系统启动伺服电动机I23,带动齿轮I24转动,齿轮I24通过与齿条13啮合传动,带动平移机构2、升降机构3、旋转机构4、夹持机构5和整排铝锭8运动到托盘64正上方;然后PLC控制系统启动夹持液压缸52,夹持液压缸52带动夹持板532向外运动,将整排铝锭8放置在托盘64上,完成第一层铝锭码垛;然后PLC控制系统启动伺服电动机I23,伺服电动机I23带动齿轮I24转动,齿轮I24通过与齿条13啮合传动,再次带动平移机构2、升降机构3、旋转机构4和夹持机构5运动到夹持工位上方;然后PLC控制系统启动四个升降液压缸II62,四个升降液压缸II62带动码垛平台63下降,同时红外测距仪65将测试结果输送到PLC控制系统中进行反馈,保证码垛平台63下降一个铝锭的高度,使托盘64上最顶层铝锭8的上表面与夹持机构5的原始位置处在同一水平高度;第二层铝锭的码垛过程和第一层码垛过程基本相似,只是在PLC控制系统启动升降液压缸I32,带动升降机构3、旋转机构4、夹持机构5和整排铝锭8上升到原始位置后,PLC控制系统启动伺服电动机II41,伺服电动机II41带动齿轮II42转动,齿轮II42与回转支撑外齿圈44啮合传动,回转支撑外齿圈44带动夹持机构5和第二层铝锭8旋转90°,然后再将第二层铝锭8运送到托盘64的上方,并放置在第一层铝锭8上面,即可完成铝锭的纵横交错式码垛。之后的奇数层码垛过程与第一层码垛过程相同,偶数层的码垛过程与第二层码垛过程相同。The whole working process of the present invention is automatically controlled by the PLC control system. The demolded aluminum ingot 8 can be conveyed by the roller conveyor 72, and the infrared counter 76 starts to count the aluminum ingot 8, and transmits the counting result to the PLC control system, and the PLC control system starts the servo motor I23 and the servo motor I23. Drive the gear I24 to rotate, and the gear I24 is driven by meshing with the rack 13 to drive the translation mechanism 2, the lifting mechanism 3, the rotating mechanism 4 and the clamping mechanism 5 to move to the top of the clamping station. When the infrared counter 76 counts to the specified value, The PLC control system starts the lifting hydraulic cylinder III74, and the lifting hydraulic cylinder III74 drives the baffle plate I75 to descend, preventing the aluminum ingots 8 from continuing to be transported to the end of the roller conveyor 72, ensuring the same number of aluminum ingots 8 in each row. At the same time, the PLC control system starts the lifting hydraulic pressure Cylinder I32, when the lifting hydraulic cylinder I32 drives the lifting mechanism 3, the rotating mechanism 4 and the clamping mechanism 5 to descend to a certain position above the roller conveyor 72, the PLC control system starts the clamping hydraulic cylinder 52, and the clamping hydraulic cylinder 52 drives the clamping mechanism. The plate 532 clamps the entire row of aluminum ingots 8; after the entire row of aluminum ingots 8 is clamped, the PLC control system starts the lifting hydraulic cylinder I32 again to drive the lifting mechanism 3, the rotating mechanism 4, the clamping mechanism 5 and the entire row of aluminum ingots 8. It rises to the original position, and at the same time, the PLC control system starts the lifting hydraulic cylinder III74, which drives the baffle plate I75 to rise to the original position, and the aluminum ingot 8 continues to be conveyed to the end of the roller conveyor 72; then the PLC control system starts the servo motor I23, which drives the gear I24 to rotate. , the gear I24 drives the translation mechanism 2, the lifting mechanism 3, the rotation mechanism 4, the clamping mechanism 5 and the whole row of aluminum ingots 8 to move to the top of the tray 64 by meshing with the rack 13; then the PLC control system starts the clamping hydraulic cylinder 52. The clamping hydraulic cylinder 52 drives the clamping plate 532 to move outward, and the entire row of aluminum ingots 8 is placed on the tray 64 to complete the stacking of the first layer of aluminum ingots; then the PLC control system starts the servo motor I23, and the servo motor I23 drives the The gear I24 rotates, and the gear I24 is meshed with the rack 13 to drive the translation mechanism 2, the lifting mechanism 3, the rotating mechanism 4 and the clamping mechanism 5 to move to the top of the clamping station; then the PLC control system starts the four lifting hydraulic cylinders II62, four lifting hydraulic cylinders II62 drive the palletizing platform 63 to descend, and the infrared range finder 65 transmits the test results to the PLC control system for feedback, ensuring that the palletizing platform 63 descends by the height of one aluminum ingot, making the pallet 64 the highest The upper surface of the top aluminum ingot 8 is at the same level as the original position of the clamping mechanism 5; the stacking process of the second layer aluminum ingot is basically similar to the first layer stacking process, except that the lifting hydraulic cylinder I32 is activated in the PLC control system. , after driving the lifting mechanism 3, the rotating mechanism 4, the clamping mechanism 5 and the whole row of aluminum ingots 8 to the original position, the PLC control system starts the servo motor II41, the servo motor II41 drives the gear II42 to rotate, and the gear II42 and the outer ring gear of the slewing support 44 meshing transmission, slewing support outer ring gear 44 drives the clamping mechanism 5 and the second layer of aluminum The ingots 8 are rotated by 90°, and then the second layer of aluminum ingots 8 is transported to the top of the tray 64 and placed on the first layer of aluminum ingots 8 to complete the criss-cross stacking of the aluminum ingots. The subsequent palletizing process of odd-numbered layers is the same as that of the first layer, and the palletizing process of even-numbered layers is the same as that of the second layer.

以上所述的实施例仅仅是对本发明的优选实施方式进行描述,并非对本发明的范围进行限定,在不脱离本发明设计精神的前提下,本领域普通技术人员对本发明的技术方案做出的各种变形和改进,均应落入本发明权利要求书确定的保护范围内。The above-mentioned embodiments are only to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. On the premise of not departing from the design spirit of the present invention, those of ordinary skill in the art can Such deformations and improvements shall fall within the protection scope determined by the claims of the present invention.

Claims (9)

1. The utility model provides an automatic aluminium ingot hacking machine of vertically and horizontally staggered pile up neatly which characterized in that: the stacker crane comprises a rack assembly, a translation mechanism, an elevating mechanism and a clamping mechanism, wherein the translation mechanism is slidably connected between the front side and the rear side of the top of the rack assembly, the elevating mechanism and the clamping mechanism are arranged below the translation mechanism at intervals in sequence, the elevating mechanism and the clamping mechanism are connected through a rotating structure, and a conveying mechanism and a stacking platform are arranged below the left side and the right side of the clamping mechanism respectively.
2. An automatic criss-cross aluminium ingot stacker according to claim 1, wherein: the rack assembly comprises a rectangular frame, linear slide rails symmetrically arranged at the tops of the front side and the rear side of the rectangular frame, racks arranged between the middle areas of the left side and the right side of the rectangular frame, and supporting stand columns arranged at the bottoms of the four corner ends of the rectangular frame.
3. An automatic criss-cross aluminium ingot stacker according to claim 2, wherein: the translation mechanism comprises a translation plate, sliding blocks respectively arranged at the bottoms of the front side and the rear side of the translation plate, a servo motor I transversely arranged in the middle area of the upper surface of the translation plate and a gear I longitudinally connected to the output end of the servo motor I; the sliding blocks are respectively connected with linear sliding rails on the tops of the front side and the rear side of the rectangular frame in a sliding mode, and the bottom of the gear I penetrates through the translation plate to be connected with the rack in a meshed mode.
4. An automatic criss-cross aluminium ingot stacker according to claim 3, wherein: elevating system includes lifter plate and the hydraulic cylinder I who sets up both sides around the lifter plate upper surface to and set up respectively at lifter plate upper surface optical axis all around, the lifter plate pass through hydraulic cylinder I and optical axis with translation board swing joint, just translation board and optical axis junction still are provided with linear bearing.
5. An automatic criss-cross aluminium ingot stacker according to claim 4, wherein: the rotary mechanism comprises a servo motor II longitudinally arranged on the upper surface of the lifting plate, a gear II transversely arranged on one side of the bottom of the lifting plate and connected with the output end of the servo motor II, and a rotary support inner ring fixedly connected to the middle area of the lower surface of the lifting plate, wherein a rotary support outer gear ring is further arranged on the outer side of the rotary support inner ring, and the rotary support outer gear ring is meshed with the gear II.
6. An automatic criss-cross aluminium ingot stacker according to claim 5, wherein: the clamping mechanism comprises a fixed plate, clamping hydraulic cylinders and clamping plate assemblies, wherein the clamping hydraulic cylinders are symmetrically arranged at the middle parts of the bottom ends of the front side and the rear side of the fixed plate, the clamping hydraulic cylinders are arranged at the two sides of the bottom of the fixed plate respectively, the clamping plate assemblies are connected with the clamping hydraulic cylinders, and the middle part of the upper surface of the fixed plate is fixedly connected with the rotary support outer gear ring.
7. An automatic criss-cross aluminium ingot stacker according to claim 6, wherein: the clamping plate assembly comprises a push-pull plate and a clamping plate, the middle area of the push-pull plate is connected with a clamping hydraulic cylinder, the clamping plate is hinged to the upper end of the push-pull plate, sliding holes are symmetrically formed in the left side and the right side of the push-pull plate, sliding shafts with certain curvature are arranged in the sliding holes, the other ends of the sliding shafts are connected with the clamping plate, springs are arranged on the outer sides of the sliding shafts, and the two ends of each spring are connected with the push-pull plate and the clamping plate respectively.
8. An automatic criss-cross aluminium ingot stacker according to claim 1, wherein: the stacking platform comprises a bottom plate, lifting hydraulic cylinders II arranged in four corner areas of the upper surface of the bottom plate and a stacking platform connected to the tops of piston rods of the four lifting hydraulic cylinders II, wherein a tray is arranged on the upper surface of the stacking platform, and an infrared distance meter is arranged in the middle area of the upper surface of the bottom plate.
9. An automatic criss-cross aluminium ingot stacker according to claim 1, wherein: the conveying mechanism comprises a roller conveyor and a lifting hydraulic cylinder III fixed above the left end part of the roller conveyor between two sides through a limiting frame, and a material baffle plate I arranged below the lifting hydraulic cylinder III and connected with a piston rod of the lifting hydraulic cylinder III, wherein one side of the material baffle plate I is provided with an infrared counter, and the tail end of the right side of the roller conveyor is also provided with a material baffle plate II.
CN202010198271.8A 2020-03-19 2020-03-19 A kind of aluminum ingot palletizer for automatic criss-cross palletizing Pending CN111268419A (en)

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CN111731740A (en) * 2020-07-10 2020-10-02 苏州浦一电子商务有限公司 A cargo transfer equipment for logistics warehousing
CN111731740B (en) * 2020-07-10 2021-08-20 苏州浦一电子商务有限公司 A cargo transfer equipment for logistics warehousing
CN111908143A (en) * 2020-07-14 2020-11-10 天能电池集团股份有限公司 Stacking device for batteries after being boxed
CN111731867A (en) * 2020-07-28 2020-10-02 沭阳县鲁信板材机械厂 A fully automatic palletizing line for slats
CN112551177A (en) * 2020-07-29 2021-03-26 江苏中钧新材料科技有限公司 Aluminium ingot pile up neatly device
CN111792387A (en) * 2020-08-04 2020-10-20 天津市龙建丰液压机械有限公司 An H-type palletizer
CN112027679A (en) * 2020-09-09 2020-12-04 彭王 Aluminium ingot casting production line pile up neatly device with automatic discharge structure
CN112027691A (en) * 2020-09-30 2020-12-04 洛阳中冶建材设备有限公司 High-speed stacking method and device for packaging baked bricks
CN114212545B (en) * 2022-01-13 2022-09-02 靖江新舟合金材料有限公司 Alloy ingot conveying and stacking equipment
CN114212545A (en) * 2022-01-13 2022-03-22 靖江新舟合金材料有限公司 Alloy ingot conveying and stacking equipment
CN114476695A (en) * 2022-02-21 2022-05-13 卢江宁 Automatic egg palletizer
CN115535575A (en) * 2022-10-10 2022-12-30 帅翼驰(河南)新材料科技有限公司 A palletizing device for an aluminum ingot continuous casting production line
CN116767866A (en) * 2023-07-14 2023-09-19 冠县恒祥轴承制造有限公司 Full-automatic stacking device for cross bearing rings
CN116767866B (en) * 2023-07-14 2024-03-12 冠县恒祥轴承制造有限公司 Full-automatic stacking device for cross bearing rings
CN117023170A (en) * 2023-09-18 2023-11-10 冠县中圆轴承有限公司 Automatic stacking manipulator for heat treatment of bearing rings
CN118597815A (en) * 2024-06-12 2024-09-06 嘉峪关铭翔铝业有限公司 Aluminum rod conveying equipment used for aluminum product processing
CN118597815B (en) * 2024-06-12 2024-11-15 嘉峪关铭翔铝业有限公司 Aluminium bar conveying equipment for processing aluminium products
CN119038211A (en) * 2024-11-04 2024-11-29 鄂尔多斯市铁通轨枕有限责任公司 High-efficient hacking machine is used to railway sleeper
CN119306020A (en) * 2024-12-13 2025-01-14 江苏联峰实业有限公司 A high-speed wire billet double-row feeding device and process and control method thereof
CN119306020B (en) * 2024-12-13 2025-03-18 江苏联峰实业有限公司 A high-speed wire billet double-row feeding device and process and control method thereof
CN120039650A (en) * 2025-04-23 2025-05-27 深圳市赛卓塑业有限公司 A fast food box production and stacking device

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Application publication date: 20200612