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

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

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

technical field

The invention relates to the technical field of aluminum ingot production, in particular to an aluminum ingot stacker for automatic criss-cross stacking.

Background technique

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.

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.

SUMMARY OF THE INVENTION

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.

The technical scheme adopted in the present invention is as follows:

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.

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.

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.

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.

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.

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.

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.

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.

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.

Compared with the prior art, the present invention has the following beneficial effects:

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. Using the combination of slewing support and servo motor for rotation, the rotation process is stable and the precision is high;

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.

Description of drawings

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;

Fig. 2 is the structural representation of the connection between the translation mechanism and the lifting mechanism in Fig. 1;

Fig. 3 is the structural representation of the connection between the rotating mechanism and the clamping mechanism in Fig. 1;

Fig. 4 is the bottom structure schematic diagram of the clamping mechanism in Fig. 3;

Fig. 5 is the structural representation of the palletizing table in Fig. 1;

FIG. 6 is a schematic structural diagram of the conveying mechanism in FIG. 1 .

Detailed ways

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.

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.

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.

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.

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.

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.

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 .

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.

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 .

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 .

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.

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.

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.

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