CN114408559A - Full-automatic unloading mechanism and full-automatic unloading method of fungus bags - Google Patents
Full-automatic unloading mechanism and full-automatic unloading method of fungus bags Download PDFInfo
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- CN114408559A CN114408559A CN202210058972.0A CN202210058972A CN114408559A CN 114408559 A CN114408559 A CN 114408559A CN 202210058972 A CN202210058972 A CN 202210058972A CN 114408559 A CN114408559 A CN 114408559A
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- full
- grabbing
- telescopic driving
- automatic
- fungus
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- 241000233866 Fungi Species 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 230000005571 horizontal transmission Effects 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 description 6
- 241000252254 Catostomidae Species 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000001963 growth medium Substances 0.000 description 1
- 238000011081 inoculation Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/20—Culture media, e.g. compost
- A01G18/22—Apparatus for the preparation of culture media, e.g. bottling devices
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/30—Accessories for use before inoculation of spawn, e.g. sterilisers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Abstract
The invention provides a full-automatic shelving mechanism and a full-automatic shelving method of fungus bags, wherein the full-automatic shelving mechanism comprises a rack, a lifting platform arranged on the rack, a material transmission line and a grabbing assembly, wherein the material transmission line and the grabbing assembly are arranged on the lifting platform; the grabbing component can slide on the lifting platform along the Y-axis direction; the grabbing component comprises an image collector and at least one group of grabbing units, and the image collector is used for collecting fungus bags on the goods shelf; the grabbing unit comprises a first telescopic driving arm and a second telescopic driving arm which can be telescopic in the X-axis direction, and a first sucker laterally arranged is arranged at the end part of the first telescopic driving arm; and a second sucker arranged downwards is arranged on the second telescopic driving arm. Can realize the full-automatic operation of putting off the shelf of fungus package.
Description
Technical Field
The invention relates to the field of production of edible fungus bags, in particular to a full-automatic unloading mechanism and a full-automatic unloading method of fungus bags by utilizing the full-automatic unloading mechanism.
Background
At present, the fungus bags of edible fungi realize the mechanized operation of automatic bagging of culture media. The operation flow is roughly divided into processes such as bagging, inoculation and the like; the different processes all have independent workshops and production lines. Between the upper and lower section processes, the fungus bags need to be placed on the material rack for storage, and then transferred to the next production line from the material rack. In the prior art, the operation of putting the fungus bags on the material rack is finished manually, so that the labor cost is high, and the efficiency is low.
Disclosure of Invention
Therefore, the invention provides a full-automatic undercarriage mechanism and a full-automatic undercarriage method of fungus bags by utilizing the full-automatic undercarriage mechanism; thereby realizing the automatic off-shelf operation of the fungus bags.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a full-automatic undercarriage mechanism comprises a rack, a lifting platform arranged on the rack, and a material conveying line and a grabbing assembly which are arranged on the lifting platform, wherein the material conveying line comprises a horizontal conveying line extending along the Y-axis direction and a follow-up conveying line hinged to the tail end of the horizontal conveying line; the grabbing component can slide on the lifting platform along the Y-axis direction; the grabbing component comprises an image collector and at least one group of grabbing units, and the image collector is used for collecting fungus bags on the material rack; the grabbing unit comprises a first telescopic driving arm and a second telescopic driving arm which can be telescopic in the X-axis direction, and a first sucker laterally arranged is arranged at the end part of the first telescopic driving arm; and a second sucker arranged downwards is arranged on the second telescopic driving arm.
Further, the second telescopic driving arm is located above the first telescopic driving arm.
Furthermore, a plurality of second suckers are arranged on the second telescopic driving arm, and the plurality of second suckers are arranged along the X-axis direction.
Furthermore, the grabbing units are provided with two groups, and the two groups of grabbing units are arranged along the Y-axis direction.
Further, the grabbing assembly further comprises a distance adjusting device, and the distance adjusting device adjusts the distance between the two groups of grabbing units.
Furthermore, the distance adjusting device comprises a driving motor, a gear and a rack, the driving motor is fixed on one group of grabbing units, the rack is fixed on the other group of grabbing units and extends along the Y-axis direction, and the gear is sleeved on a driving shaft of the driving motor and meshed with the rack.
Furthermore, the first telescopic driving arms of the two groups of grabbing units are driven by the same first driving device; the second telescopic driving arms of the two groups of grabbing units are driven by the same second driving device.
Furthermore, a limiting station is arranged on the transmission belt of the follow-up transmission line.
Furthermore, the limiting station consists of two limiting blocks arranged at intervals.
Furthermore, the tail end of the follow-up transmission line is provided with an abutting pulley.
A full-automatic fungus bag unloading method is used for unloading fungus bags stacked on a material rack and comprises the following steps:
a1, providing the full-automatic undercarriage mechanism, connecting the tail end of the follow-up transmission line to the assembly line at the rear section;
a2, transferring the material rack to a position corresponding to the full-automatic rack discharging mechanism; the lifting platform is lifted to enable the material conveying line and the grabbing assembly on the lifting platform to correspond to the material storage layer of the material rack;
a3, collecting the stacking condition of fungus bags on the material storage layer in real time by an image collector;
a4, aligning the upper fungus bags of the storage layer by a first telescopic driving arm, extending out to enable the first suction disc to suck the upper fungus bags laterally, retracting to drag the upper fungus bags out to a horizontal transmission line until all the fungus bags on the upper layer are dragged out, and enabling the storage layer to leave the upper space;
a5, a second telescopic driving arm extends into the upper space of the material storage layer, a second sucker facing downwards sucks a fungus bag, and the fungus bag is lifted and taken out to a horizontal transmission line until all the remaining fungus bags in the material storage layer are taken out;
and A6, repeating the actions from the step A2 to the step A5 until all the fungus bags on the whole material shelf are rotated out.
Through the technical scheme provided by the invention, the method has the following beneficial effects:
by adopting the full-automatic rack discharging mechanism, fungus bags on the material rack can be automatically transferred to a production line, so that manual operation is omitted; the efficiency is higher.
Meanwhile, when the second telescopic driving arm does not extend into the space in the material frame, the upper fungus bag is pulled out in the lateral direction of the first telescopic driving arm, and then the second telescopic driving arm extends into the material frame to lift the fungus bag out; the off-shelf transmission of the fungus bags is ensured to the maximum extent, and the damage of the fungus bags is minimized.
Drawings
FIG. 1 is a side view of a fully automatic racking mechanism of an embodiment;
FIG. 2 is a front view of the fully automatic racking mechanism of the embodiment;
FIG. 3 is a schematic view of the structure of a first telescopic drive arm portion in an embodiment;
FIG. 4 is a schematic structural view of a second telescopic drive arm portion in the embodiment;
FIG. 5 is a schematic view of the connection structure of two first telescopic driving arms in two groups of grabbing units in the embodiment;
fig. 6 is a schematic view showing a connection structure of two second telescopic driving arms in two groups of the grabbing units according to the embodiment.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention will now be further described with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 6, the embodiment provides a full-automatic undercarriage mechanism, which includes a frame 11, a lifting platform 12 disposed on the frame 11, and a material conveying line 13 and a grabbing assembly 16 disposed on the lifting platform 12, where the lifting platform 12 can drive the material conveying line 13 and the grabbing assembly 16 to move up and down. Specifically, a vertical guide rail is provided on the frame 11, and the lifting platform 12 is slidably mounted on the vertical guide rail and is driven by the lifting driving device 121 to move up and down.
The material conveying line 13 comprises a horizontal conveying line 131 extending along the Y-axis direction and a follow-up conveying line 132 hinged to the tail end of the horizontal conveying line 131; the end of the follow-up transmission line 132 is a free end, which can be used for connecting with the pipeline of the rear section to realize the connection with the pipeline of the rear section. Meanwhile, when the lifting platform 12 moves up and down, the horizontal transmission line 131 is driven to lift up and down, and the follow-up transmission line 132 adjusts the inclination accordingly.
More specifically, in order to facilitate the adjustment of the position of the following transmission line 132, in the present embodiment, the end of the following transmission line 132 is provided with an abutting pulley 1321, and the following transmission line is slidably abutted to the following line through the abutting pulley 1321.
The grabbing component 16 can slide on the lifting platform 12 along the Y-axis direction; specifically, the lifting platform 12 is provided with a Y-axis guide rail, and the grabbing component 16 is slidably assembled on the Y-axis guide rail and driven by a Y-axis driving device.
The grabbing component 16 comprises an image collector 17 and at least one group of grabbing units 14, wherein the image collector 17 is used for collecting the fungus bags 1 on the material rack 2; the grabbing unit 14 comprises a first telescopic driving arm 141 and a second telescopic driving arm 142 which can be telescopic in the X-axis direction, and a first sucking disc 1411 arranged laterally is arranged at the end part of the first telescopic driving arm 141; the second telescopic driving arm 142 is provided with a second suction cup 1421 disposed downward.
The embodiment further provides a full-automatic fungus bag unloading method based on the full-automatic fungus bag unloading mechanism, and the method is used for unloading the fungus bags 1 stacked on the material rack 2. Specifically, the material frame 2 is provided with a plurality of material storage layers, and a plurality of layers of fungus bags 1 are stacked in the material storage layers.
The full-automatic fungus bag unloading method comprises the following steps:
a1, providing the above-mentioned full-automatic undercarriage mechanism, connecting the end of the following transmission line 132 to the assembly line at the rear section.
So, just can form with the assembly line of back end and be connected, be convenient for carry fungus package 1 to the back end and carry out the processing operation.
A2, transferring the material rack 2 to a position corresponding to the full-automatic rack discharging mechanism; the lifting platform 12 is lifted to enable the material conveying line 13 and the grabbing component 16 on the lifting platform to correspond to the material storage layer of the material rack 2;
specifically, in this embodiment, be provided with transmission line 18 in one of them side of full-automatic mechanism of putting down, material frame 2 realizes automatic the transferring through the transmission of transmission line 18, and further saving manual handling shifts, shifts more steadily and accurately.
A3, collecting the stacking condition of the fungus bags 1 in the storage layer in real time by the image collector 17;
thus, the stacking condition of the fungus bags 1 in the material storage layer can be clearly confirmed, such as the number of stacked fungus bags, the number of each layer, specific positions and the like. So that the gripping unit is aligned with the respective pad 1.
Specifically, the image collector 17 is implemented by an industrial camera, but may also be implemented by other cameras such as a CCD camera.
A4, aligning the first telescopic driving arm 141 with the upper fungus bag 1 of the material storage layer, extending out to enable the first suction disc 1411 to suck the upper fungus bag 1 laterally, then retracting to pull out the upper fungus bag 1 onto the horizontal transmission line 131 until all fungus bags 1 on the upper layer are pulled out, and enabling the material storage layer to leave an upper space;
specifically, the size of the empty upper space is such that the lower second telescopic drive arm 142 can be accommodated.
Specifically, the fungus bag 1 is transferred to the horizontal transmission line 131, then transferred to the following transmission line 132 through the horizontal transmission line 131, and then transferred to the next stage of the production line through the following transmission line 132, so as to realize output.
A5, the second telescopic driving arm 142 extends into the upper space of the storage layer, the downward second suction cup 1421 sucks the fungus bag 1, and the fungus bag 1 is lifted and taken out to the horizontal transmission line until the rest fungus bags 1 in the storage layer are all taken out.
Specifically, the fungus package 1 is lifted and taken out by the second telescopic driving arm 142, the specific action is taken as, after the fungus package 1 is sucked by the second sucker 1421, the fungus package 1 is lifted upwards firstly (the action is driven by the lifting platform 12), so that the fungus package 1 is suspended and then moved out, and in the process, the fungus package 1 cannot rub against each other, so that the damage caused by transfer to the fungus package 1 is avoided.
And A6, repeating the actions from the step A2 to the step A5 until all the fungus bags 1 on the whole material rack 2 are rotated out.
Specifically, the movement of the grasping assembly 16 on the Y axis drives the first telescopic driving arm 141 and the second telescopic driving arm 142 to translate to grasp the fungus sacks on the same layer; the lifting movement of the lifting platform 12 drives the first telescopic driving arm 141 and the second telescopic driving arm 142 to lift and lower so as to grab the fungus bags on different layers or the material storage layers corresponding to different layers.
By adopting the full-automatic rack discharging mechanism, the fungus bags 1 on the material rack 2 can be automatically transferred to a production line, so that manual operation is omitted; the efficiency is higher.
Meanwhile, at the beginning, the fungus bag 1 is fully stacked, and the fungus bag 1 can be sucked in the lateral direction and taken out in a pulling-out mode; the fungus bags can rub against each other in the pulling-out process, so that the fungus bags are easy to damage; therefore, when the upper fungus bag 1 is pulled out from the side direction of the first telescopic driving arm 141 until the upper space of the material storage layer is left, the second telescopic driving arm 142 is adopted to extend into the material frame 2 to lift the fungus bag 1 out; the off-shelf transmission of the fungus bags 1 is ensured to the maximum extent, and the damage to the fungus bags 1 is minimized.
Further, a plurality of second suction cups 1421, two in the embodiment, are disposed on the second telescopic driving arm 142, and the two second suction cups 1421 are arranged along the X-axis direction. So, after the second telescopic driving arm 142 stretches into the material frame 2, the two second suction cups 1421 can simultaneously suck the same fungus bag 1, so that the stress of the fungus bag 1 is more uniform, and the fungus bag can be taken out more stably. Of course, in other embodiments, the number of the second suction cups 1421 on the second telescopic driving arm 142 is not limited to this, as long as it is enough to smoothly suck the fungus bag 1.
Further, the first telescopic driving arm 141 and the second telescopic driving arm 142 of the same group of grabbing units 14 are vertically arranged; specifically, in this embodiment, the second telescopic driving arm 142 is located above the first telescopic driving arm 141, so as to realize the arrangement in the vertical direction. Layout space in the horizontal direction can be saved.
Still further, the grabbing units 14 are provided with two groups, and the two groups of grabbing units 14 are arranged along the Y-axis direction. Thus, the first telescopic driving arms 141 of the two groups of gripping units 14 are located at the same level, and the second telescopic driving arms 142 of the two groups of gripping units 14 are located at the same level; and the spacing is equal. The operation will not interfere with each other.
Further, the first telescopic driving arms 141 of the two groups of grabbing units 14 are driven by the same first driving device; the two first telescopic drive arms 141 have good consistency of action. Similarly, the second telescopic driving arms 142 of the two groups of gripping units 14 are driven by the same second driving device; so that the two second telescopic driving arms 142 have good consistency of action.
Further, in this embodiment, the image collector 17 is fixed on one of the first telescopic driving arms 141, so as to facilitate layout. Meanwhile, an illumination light source is further arranged, the material frame is supplemented with light through the illumination light source, and the image acquisition effect of the image acquisition device 17 is better.
Further, the grabbing assembly 16 further comprises a spacing adjusting device 15, and the spacing adjusting device 15 adjusts the spacing between the two groups of grabbing units 14. By the arrangement, the distance between the two groups of grabbing units 14 can be adjusted according to the distance between two adjacent fungus bags 1, and the applicability is wider.
Specifically, the distance adjusting device 15 includes a driving motor, a gear and a rack, the driving motor is fixed on one of the grabbing units 14, the rack is fixed on the other grabbing unit 14 and extends along the Y-axis direction, and the gear is sleeved on a driving shaft of the driving motor and is meshed with the rack. When the distance between two groups of grabbing units 14 needs to be adjusted, the driving motor drives the gear to rotate, and the two groups of grabbing units 14 are close to each other or far away from each other through the matching of the gear and the rack. The distance adjusting device 15 has such a structure, and is simple in design and easy to implement. Of course, in other embodiments, the structure of the spacing adjustment device 15 is not limited thereto.
Further, a limiting station is arranged on the transmission belt of the follow-up transmission line 132. When the fungus package 1 is transmitted to the follow-up transmission line by the horizontal transmission line 131, the fungus package 1 can be limited by the limiting station, the transmission stability of the fungus package 1 is ensured, and abnormal transmission caused by the inclined arrangement of the follow-up transmission line 132 is prevented.
Specifically, the limiting station consists of two limiting blocks arranged at intervals. The fungus package 1 is restricted between two stopper, simple structure, and can not influence the normal circulation of transmission band.
Further, in this embodiment, a hydraulic lifting platform (not shown) is further disposed at the bottom of the conveying line 18 for conveying the material rack 2. So set up, its aim at, when lift platform 12 descends to follow-up transmission line 132 level, the continuation of lift platform 12 descends and can lead to follow-up transmission line 132's terminal perk and break away from the transmission line of back end, therefore, under this kind of condition, lift platform 12 just does not continue to descend, but uses the hydraulic lifting platform to wholly lift the material frame to suitable position to make the material layer in 2 lower floors of material frame correspond lift platform 12.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a full-automatic undercarriage mechanism which characterized in that: the material conveying line comprises a horizontal conveying line extending along the Y-axis direction and a follow-up conveying line hinged to the tail end of the horizontal conveying line; the grabbing component can slide on the lifting platform along the Y-axis direction; the grabbing component comprises an image collector and at least one group of grabbing units, and the image collector is used for collecting fungus bags on the material rack; the grabbing unit comprises a first telescopic driving arm and a second telescopic driving arm which can be telescopic in the X-axis direction, and a first sucker laterally arranged is arranged at the end part of the first telescopic driving arm; and a second sucker arranged downwards is arranged on the second telescopic driving arm.
2. The full-automatic undercarriage mechanism of claim 1, wherein: the second suction cups on the second telescopic driving arms are provided with a plurality of second suction cups, and the second suction cups are arranged along the X-axis direction.
3. The full-automatic undercarriage mechanism of claim 1, wherein: the first telescopic driving arm and the second telescopic driving arm of the same group of grabbing units are vertically arranged.
4. The fully automatic racking mechanism of claim 1, 2 or 3, wherein: the grabbing units are provided with two groups, and the two groups of grabbing units are arranged along the Y-axis direction.
5. The full-automatic racking mechanism of claim 4, wherein: the grabbing assembly further comprises a distance adjusting device, and the distance adjusting device adjusts the distance between the two groups of grabbing units.
6. The full-automatic racking mechanism according to claim 5, wherein: the distance adjusting device comprises a driving motor, a gear and a rack, the driving motor is fixed on one group of grabbing units, the rack is fixed on the other group of grabbing units and extends along the Y-axis direction, and the gear is sleeved on a driving shaft of the driving motor and meshed with the rack.
7. The full-automatic racking mechanism of claim 4, wherein: the first telescopic driving arms of the two groups of grabbing units are driven by the same first driving device; the second telescopic driving arms of the two groups of grabbing units are driven by the same second driving device.
8. The full-automatic undercarriage mechanism of claim 1, wherein: and a limiting station is arranged on the transmission belt of the follow-up transmission line.
9. The full-automatic racking mechanism of claim 8, wherein: the limiting station consists of two limiting blocks arranged at intervals.
10. A full-automatic fungus bag unloading method is used for unloading fungus bags stacked on a material rack, and is characterized by comprising the following steps:
a1, providing the full-automatic undercarriage mechanism of any claim 1 to 9, connecting the tail end of the following transmission line to the assembly line at the rear section;
a2, transferring the material rack to a position corresponding to the full-automatic rack discharging mechanism; the lifting platform is lifted to enable the material conveying line and the grabbing assembly on the lifting platform to correspond to the material storage layer of the material rack;
a3, collecting the stacking condition of fungus bags on the material storage layer in real time by an image collector;
a4, aligning the upper fungus bags of the storage layer by a first telescopic driving arm, extending out to enable the first suction disc to suck the upper fungus bags laterally, retracting to drag the upper fungus bags out to a horizontal transmission line until all the fungus bags on the upper layer are dragged out, and enabling the storage layer to leave the upper space;
a5, a second telescopic driving arm extends into the upper space of the material storage layer, a second sucker facing downwards sucks a fungus bag, and the fungus bag is lifted and taken out to a horizontal transmission line until all the remaining fungus bags in the material storage layer are taken out;
and A6, repeating the actions from the step A2 to the step A5 until all the fungus bags on the whole material shelf are rotated out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210058972.0A CN114408559A (en) | 2022-01-19 | 2022-01-19 | Full-automatic unloading mechanism and full-automatic unloading method of fungus bags |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210058972.0A CN114408559A (en) | 2022-01-19 | 2022-01-19 | Full-automatic unloading mechanism and full-automatic unloading method of fungus bags |
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| Publication Number | Publication Date |
|---|---|
| CN114408559A true CN114408559A (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210058972.0A Pending CN114408559A (en) | 2022-01-19 | 2022-01-19 | Full-automatic unloading mechanism and full-automatic unloading method of fungus bags |
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