CN215363749U

CN215363749U - Robot transfer device

Info

Publication number: CN215363749U
Application number: CN202121118586.3U
Authority: CN
Inventors: 丁敬斌; 肖益民; 黄文虎; 刘雪峰; 彭铁军; 寻蓬毕
Original assignee: Zhongji Sunward Technology Co ltd; CINF Engineering Corp Ltd
Current assignee: Zhongji Sunward Technology Co ltd; CINF Engineering Corp Ltd
Priority date: 2021-05-24
Filing date: 2021-05-24
Publication date: 2021-12-31
Anticipated expiration: 2031-05-24

Abstract

The utility model provides a robot transfer device. The robot moves and carries the device includes the arm and locates the terminal a set of or multiunit anchor clamps of arm, anchor clamps include base, mounting bracket, board fixture, hook fixture, the one end of base with the end-to-end connection of arm, the other end with the mounting bracket is connected, the mounting bracket is kept away from one side of base is equipped with hook fixture, the mounting bracket with the base with hook fixture's the both ends in the line vertically side are equipped with a set ofly respectively board fixture. The robot shifting device provided by the utility model solves the problem that the reliability of the existing cathode plate shifting mode is increasingly poor along with the abrasion of the cathode plate.

Description

Robot transfer device

Technical Field

The utility model relates to the field of electrolytic zinc, in particular to a robot transfer device.

Background

The zinc smelting and electrolyzing process includes inserting aluminum cathode plates into electrolytic bath containing chemical solution of zinc, applying an electric field to the electrolytic bath to deposit zinc onto the cathode plates, and separating zinc from the cathode plates. The zinc separation mode is zinc stripping, an automatic zinc stripping machine is introduced to replace manual zinc stripping, the mainstream of the industry is achieved at present, the increasing efficiency of automatic zinc stripping becomes the industry trend, and the efficiency of the automatic zinc stripping machine depends on reliable stripping of a zinc sheet and reliable carrying of a cathode plate. In the links of conveying the negative plate by automatically picking and supplementing the plate, along with the increase of the service life of the negative plate, the conveying reliability is worse and worse, and the production efficiency of the automatic zinc stripping machine is seriously influenced.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the reliability of the conventional cathode plate transferring mode is increasingly poor along with the abrasion of the cathode plate, the utility model provides a robot transferring device for solving the problem.

The utility model provides a robot moves and carries device, includes the arm and locates the terminal a set of or multiunit anchor clamps of arm, anchor clamps include base, mounting bracket, board fixture, hook fixture, the one end of base with the end-to-end connection of arm, the other end with the mounting bracket is connected, the mounting bracket is kept away from one side of base is equipped with hook fixture, the mounting bracket with the base with hook fixture's the ascending both ends of line vertically side are equipped with a set ofly respectively board fixture.

In a preferred embodiment of the robot transfer apparatus provided by the present invention, the mounting frame is a rectangular frame, a midpoint position of one long side of the mounting frame is connected to the base, and a midpoint position of the other long side of the mounting frame is connected to the hook clamping mechanism; the board clamping mechanisms are arranged on the broadsides on the two sides.

In a preferred embodiment of the robot transfer apparatus provided by the present invention, the hook clamping mechanism includes a hook clamping center hinge point, two hook clamping side hinge points, two hook clamping cylinders, and two hooks, the hook clamping side hinge point and the hook clamping center hinge point are both disposed on the mounting rack and are located on the same straight line, the two hook clamping side hinge points are located on two sides of the hook clamping center hinge point, one end of each of the two hook clamping cylinders is movably connected to the hook clamping center hinge point, the other end of each of the two hook clamping cylinders is movably connected to the end of one of the hooks, and the middle of each of the two hooks is movably connected to each of the two hook clamping side hinge points. And two hook clamping side hinge points are provided with limiting screws at one sides far away from each other, and the hook is abutted against the limiting screws when the hook clamping cylinder extends.

In a preferred embodiment of the robot transfer apparatus provided by the present invention, the plate clamping mechanism includes a plate clamping cylinder, a plate clamping hinge point, two connecting rods, and two clamping arms, the plate clamping cylinder and the plate clamping hinge point are both disposed on the mounting bracket, a cylinder body of the plate clamping cylinder is fixed to the mounting bracket, a piston rod of the plate clamping cylinder points to the plate clamping hinge point, a distal end of the piston rod of the plate clamping cylinder is movably connected to one end of each of the two connecting rods, the other end of each of the two connecting rods is movably connected to a distal end of each of the two clamping arms, and a middle portion of each of the two clamping arms is movably connected to the plate clamping hinge point. And clamping blocks are arranged on the sides, close to each other, of the tail ends of the two clamping arms far away from the connecting rod.

Compared with the prior art, the robot transfer device provided by the utility model directly transfers the cathode plate from one conveying line to another conveying line, simplifies the complex transfer process of the conveying line, the transfer machine, the transition conveyor, the transfer machine and the other conveying line, reduces the carrying times of the cathode plate, simplifies the equipment number and improves the carrying reliability.

Compared with the prior art, the clamp in the robot transfer device provided by the utility model can clamp the lifting lug of the cathode plate and the surface of the cathode plate at the same time, the clamping is very stable, and the problem that the large-size cathode plate can swing in the high-speed moving process is solved.

Drawings

Fig. 1 is a schematic structural view of a robot transfer device disposed in a transfer conveyor line;

fig. 2 is a side view of the robot transfer device;

fig. 3 is a front view of a jig in the robot transfer device;

fig. 4 is a schematic structural view of a hook gripping mechanism in the robot transfer device;

fig. 5 is a schematic structural view of a plate clamping mechanism in the robot transfer device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Fig. 1 is a schematic structural view of a robot transfer device 1 provided in a transfer conveyor line according to the present invention.

In the figure, the upper left part is a plate removing conveyor 2, the lower left part is a plate supplementing conveyor 3, the upper right part is a stripping conveyor 4, the lower right part is a plate washing conveyor 5, a main stripping machine 41 is arranged on the stripping conveyor, and a plate brushing machine 51 is arranged on the plate washing conveyor.

The plate picking conveyor 2 and the stripping conveyor 4 are positioned on the same straight line, and the conveying directions of the plate picking conveyor and the stripping conveyor are from right to left; the patch conveyor 3 and the wash conveyor 5 are located on another line parallel to them, both in the direction of conveyance from left to right, and also aligned with the former two in the direction perpendicular to the direction of conveyance.

The robot moves and carries device 1 and sets up between four conveyors, including two kinds of operational modes: the first mode is that the zinc sheet is completely stripped, and meanwhile, the state of the cathode plate is good, so that the cathode plate can be directly recycled. The robot transfer device 1 directly transfers the cathode plate transported by the peeling conveyor 4 to the plate washing conveyor 5.

The second mode is that the zinc sheet is not completely stripped, or the conductive beam, the edge covering strip or other parts related to automatic zinc stripping of the cathode plate have larger damage. The robot transfer device 1 transfers the cathode plate transported by the stripping conveyor 4 to the plate rejecting conveyor 2, and then transfers the cathode plate transported by the plate supplementing conveyor 3 to the plate washing conveyor 5.

Fig. 2 and fig. 3 are a side view of the robot transfer device 1 and a front view of the clamp 13.

The robot transfer device 1 includes a base 11, a robot arm 12, and a jig 13. The base 11 is a cement pier for elevating the mechanical arm 12 to adapt to the height of the conveyor. The mechanical arm 12 may be any commercially available product that meets the needs.

The mechanical arm 12 is mounted on the top of the base 11, the end of the mechanical arm far away from the base 11 is a rotating platform, and the clamp 13 is mounted on the rotating platform. The lifting lug on the conductive beam of the cathode plate and the pole plate of the cathode plate are clamped by the clamp 13.

Referring to fig. 3 to 5, fig. 3 is a schematic structural diagram of a clamp 13 in the robot transfer device 1 provided by the present invention, and fig. 4 and 5 are schematic structural diagrams of a hook clamping mechanism 33 and a plate clamping mechanism 34 in the clamp 13, respectively.

The clamp 13 comprises a base 31, a mounting frame 32, a hook clamping mechanism 33 and two plate clamping mechanisms 34. The base 31 is a connecting flange, the mounting bracket 32 is a rectangular frame, one end of the base 31 is connected with a rotating platform at the tail end of the mechanical arm 12, and the other end of the base is connected with the middle point position of the long edge of one side of the mounting bracket 32.

The hook holding mechanism 33 includes a hook holding middle hinge point 331, two hook holding side hinge points 332, two hook holding cylinders 333, and two hooks 334.

The hook clamping middle hinge point 331 is arranged at the middle point of the long edge of the other side of the mounting frame 32 opposite to the base 31, and the left side and the right side of the hook clamping middle hinge point are respectively provided with a hinge seat.

The two hook clamping side hinge points 332 are also arranged on the long side of the other side of the mounting frame 32 opposite to the base 31 and are respectively positioned close to the left side and the right side of the hook clamping middle hinge point 331. The bottom end of the hook clamping side hinge point 332 is provided with a hinge seat.

The hook 334 is a long strip-shaped plate body, a hole capable of being connected with a lifting lug of the cathode plate is formed in the bottom end of the hook 334, the position close to the upper middle of the hook is hinged to the hook clamping side hinge point 332, and the top end of the hook is hinged to the tail end of a piston rod of the hook clamping cylinder 333. The tail ends of the two hook clamping air cylinders 333 are respectively hinged with two sides of the hook clamping middle hinge point 331.

When the hook clamping cylinder 333 extends, the hook 334 is pushed to rotate, so that the bottom ends of the hook are close to each other and hook the lifting lug of the cathode plate; when the hook clamping cylinder 333 is shortened, the hook 334 is pulled to rotate, so that the bottom ends of the hook are far away from each other, and the lifting lug of the cathode plate is released.

Furthermore, the outer sides of the hook clamping side hinge points 332 far away from each other are respectively provided with a limit screw 335. When the hook clamping cylinder 333 extends, the hook 334 abuts against the limit screw 335, so that the lifting lug is prevented from being damaged by excessive locking.

The plate clamping mechanism 34 includes a plate clamping cylinder 341, a plate clamping hinge point 342, two connecting rods 343, and two clamping arms 344.

The plate clamping cylinder 341 is disposed on one broad side of the mounting frame 32 with its piston rod facing downward, and the top of the cylinder body is aligned with the top of the mounting frame 32. The plate clamping hinge point 342 is also arranged on the same side of the mounting frame 32, and is located right below the plate clamping cylinder 341 and on the extension line of the piston rod of the plate clamping cylinder 341.

The two connecting rods 343 are hinged to the end of the piston rod of the plate clamping cylinder 341 from left to right (the angle in fig. 5, the same applies below), and the end of the connecting rod 343 far away from the plate clamping cylinder 341 is hinged to the top end of one of the clamping arms 344.

The clamping arm 344 is a slightly bent strip-shaped plate body, and an included angle of 167 degrees is formed between the upper part and the lower part after bending. The top end of the connecting rod is hinged with the connecting rod 343, and the bent positions are respectively hinged with the two sides of the plate clamping hinge point 342.

When the plate clamping cylinder 341 extends, the two connecting rods 343 are pushed to expand outwards to drive the clamping arms 344 to rotate, so that the bottom ends of the clamping arms are close to each other and clamp the cathode plate; when the plate holding cylinder 341 is shortened, the two connecting rods 343 are pulled to be close to drive the holding arms 344 to rotate, so that the bottom ends of the holding arms are far away from each other, and the negative plate is released.

Furthermore, the bottom ends of the two clamping arms 344 are provided with clamping blocks 345 at the sides close to each other, so as to increase the friction force between the clamping arms and the cathode plate, and ensure that the clamping is more stable.

The two plate clamping mechanisms 34 are respectively arranged on the two wide sides of the mounting frame 32 and synchronously clamp the cathode plate with the hook clamping mechanisms 33.

The plate removing conveyor 2, the plate supplementing conveyor 3, the plate stripping conveyor 4 and the plate washing conveyor 5 are chain conveyors and comprise two groups of parallel chains. The negative plate is conveyed in a way that two ends of the conductive beam of the negative plate are respectively lapped on two groups of chains.

Taking the mode one as an example:

when the cathode plate approaches the left end of the stripping conveyor 4, the robotic arm 12 moves the clamp 13 to its top and down to the hook 334 on either side of the lifting lug, and the clamping arms 344 on either side of the cathode plate. And then the hook clamping cylinder 333 and the plate clamping cylinder 341 are controlled to extend to respectively hook the lifting lug and clamp the cathode plate.

Then the mechanical arm 12 drives the cathode plate to be transferred to the left end of the plate washing conveyor 5, the hook clamping cylinder 333 and the plate clamping cylinder 341 are controlled to be shortened, and the cathode plate is released and falls on the chain of the plate washing conveyor 5.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a robot moves and carries device, includes the arm and locates the terminal a set of or multiunit anchor clamps of arm, its characterized in that: anchor clamps include base, mounting bracket, board fixture, hook fixture, the one end of base with the end-to-end connection of arm, the other end with the mounting bracket is connected, the mounting bracket is kept away from one side of base is equipped with hook fixture, the mounting bracket with the base with hook fixture's the both ends of line vertically in direction are equipped with a set ofly respectively board fixture.

2. The robot transfer device according to claim 1, wherein: the mounting frame is a rectangular frame, the middle point of the long edge of one side of the mounting frame is connected with the base, and the middle point of the long edge of the other side of the mounting frame is connected with the hook clamping mechanism; the board clamping mechanisms are arranged on the broadsides on the two sides.

3. The robot transfer device according to claim 1 or 2, wherein: the hook clamping mechanism comprises a hook clamping middle hinge point, two hook clamping side hinge points, two hook clamping cylinders and two hooks, the hook clamping side hinge points and the hook clamping middle hinge points are all arranged on the mounting frame, the three hinge points are located on the same straight line, the hook clamping side hinge points are located on two sides of the hook clamping middle hinge points, the two hook clamping cylinders are movably connected with the hook clamping middle hinge points at one ends, the other ends of the hook clamping cylinders are movably connected with one tail ends of the hooks respectively, and the middle portions of the hooks are movably connected with the hook clamping side hinge points respectively.

4. The robot transfer device according to claim 3, wherein: and two hook clamping side hinge points are provided with limiting screws at one sides far away from each other, and the hook is abutted against the limiting screws when the hook clamping cylinder extends.

5. The robot transfer device according to claim 1 or 2, wherein: the plate clamping mechanism comprises a plate clamping cylinder, a plate clamping hinge point, two connecting rods and two clamping arms, wherein the plate clamping cylinder and the plate clamping hinge point are arranged on the mounting frame, a cylinder body of the plate clamping cylinder is fixed on the mounting frame, a piston rod points to the plate clamping hinge point, the tail end of the piston rod of the plate clamping cylinder is movably connected with two connecting rods, the other ends of the two connecting rods are movably connected with the tail ends of the two clamping arms respectively, and the middle parts of the two clamping arms are movably connected with the plate clamping hinge point.

6. The robot transfer device according to claim 5, wherein: and clamping blocks are arranged on the sides, close to each other, of the tail ends of the two clamping arms far away from the connecting rod.