CN117142157B

CN117142157B - Fodder pile up neatly processing machinery

Info

Publication number: CN117142157B
Application number: CN202311437880.4A
Authority: CN
Inventors: 许辉; 庄严; 陈孝来
Original assignee: Jilin Simier Feed Co ltd
Current assignee: Jilin Simier Feed Co ltd
Priority date: 2023-11-01
Filing date: 2023-11-01
Publication date: 2024-01-09
Anticipated expiration: 2043-11-01
Also published as: CN117142157A

Abstract

The invention relates to the technical field of palletizing machinery, in particular to a feed palletizing processing machine, which comprises a guide palletizing frame and a palletizing manipulator, wherein the guide palletizing frame is fixed at the feed conveying tail end and is used for abutting feed to fall into the frame; the guide stacking frame is in butt joint fit with the stacking manipulator; the machine provided by the invention adopts a mode of pre-stacking and batch indirect transfer stacking to carry out the stacking operation of the feed, changes the existing single-way single forage bag grabbing and stacking mode, greatly reduces the frequency of reciprocating between a material taking point and a stacking point, shortens the time consumed by the reciprocating stroke, avoids the influence of the distance between the stacking point and the material taking point on the stacking efficiency, and avoids the problem that the stacking speed is delayed relative to forage packing compression in the actual stacking operation process, thereby improving the production efficiency of the feed stacking as a whole.

Description

Fodder pile up neatly processing machinery

Technical Field

The invention relates to the technical field of stacking machines, and particularly provides a feed stacking machine.

Background

The feed is a food for raising animals in agriculture or animal husbandry. In modern animal husbandry cultivation, forage is generally a main feed source, is mainly divided into hay and silage, with the progress of the age, the use of scattered forage is basically abandoned for large-scale animal husbandry cultivation nowadays, and the hay and the silage can be packed and compressed into forage bags by a forage packer, so that the forage bags are high in compression degree, are generally square or cylindrical, have the advantages of being convenient to stack, store and transport, and particularly for silage, the compression and packing are easier to realize anaerobic fermentation.

After the forage bags are packed and compressed by a packer, the forage bags need to be piled up so as to be stored in a concentrated way; in the existing stacking process, the packed forage bags are basically conveyed to a forage stacking area through a forage conveyor, and then stacked through manual adjustment, but in actual operation, on one hand, the packing compression speed of a forage packer is basically fixed, the manual stacking frequency is greatly influenced by factors such as manpower, and on the other hand, the position of the conveying tail end of the forage conveyor is fixed, the forage stacking area is provided with a larger space area and is far from the position of the conveying tail end, so that the whole conveying efficiency is difficult to keep up in the manual stacking process, and the phenomenon of late stacking of the forage bags is unavoidable; it should be noted that, in the manual stacking process, the manual control grabbing machine is used for transferring, conveying and stacking, and considering that the standard stacking of the forage bags is convenient to put, the existing related grabbing machine only grabs a single forage bag at a time, so that the picking machine needs to frequently reciprocate between the picking point and the stacking point, more time is consumed in the reciprocating movement process, the overall efficiency is lower, and therefore, in the overall process of stacking the existing forage feed, the problems of high manual physical consumption, low stacking efficiency and the like are solved.

Disclosure of Invention

In order to solve the problems, the invention provides a feed palletizing processing machine, which is used for solving the problems in the prior art.

In order to achieve the above purpose, the present invention is implemented by adopting the following technical scheme: the feed palletizing processing machine comprises a guide palletizing frame and a palletizing manipulator, wherein the guide palletizing frame is fixed at the feed conveying tail end and is used for abutting feed to fall into the frame; the guide stacking frame is in butt joint fit with the stacking manipulator.

The guide stacking frame comprises a fixed frame fixedly installed and a movable frame used for the butt joint of the stacking manipulator and inserted into the frame, the movable frame is horizontally and slidably installed on the fixed frame, and a plurality of reset springs used for sliding reset are connected between the movable frame and the fixed frame in the sliding direction; the fixed frame is provided with the support material bottom plate that exceeds ground on the level, the movable frame is located support material bottom plate top and be upper and lower open structure, the movable frame includes two relative setting of level and slidable mounting slip curb plate on the fixed frame, two be fixed with between the slip curb plate and keep off material curb plate and push away the material curb plate, keep away the position breach has been seted up on the support material bottom plate, keep away the position breach and be located the side department that is close to keeping off the material curb plate, the top that keeps off the material curb plate is provided with the guide board of bending of outwards bending of frame.

The stacking manipulator comprises a turnover assembly, wherein a main mounting frame is fixedly assembled at the turnover end of the turnover assembly, and the turnover assembly is used for driving the main mounting frame to turn over and switch between a horizontal state and a vertical state; the main mounting frame is provided with a lower supporting mechanism for supporting a plurality of vertically stacked feeds and a touch roller which is horizontally and rotatably arranged through a roller frame, and when the main mounting frame is turned to a vertical state, the lower supporting mechanism and the touch roller are both close to the bottom of the main mounting frame and distributed on two sides of the main mounting frame; the main mounting frame is provided with a grabbing and clamping mechanism, the grabbing and clamping mechanism comprises a clamping driving assembly and two clamping frames which are driven by the clamping driving assembly to perform feed grabbing and placing, the two clamping frames are distributed on the same side of the main mounting frame with the lower supporting mechanism, and the two clamping frames are horizontally and relatively arranged on the main mounting frame in a sliding mode.

When the stacking manipulator is inserted into the movable frame in a butt joint manner, the movable frame is driven to horizontally slide towards the bending direction of the bending guide plate when the touch roller is in rolling contact with the bending section of the bending guide plate in the descending process; when the touch roller passes over the bending section of the bending guide plate in the descending process and is in rolling contact with the vertical plate surface of the material blocking side plate, the movable frame stops sliding; when the stacking manipulator is completely inserted, the touch roller and the lower supporting mechanism pass through the clearance gap and are positioned below the supporting bottom plate.

Preferably, the main mounting frame comprises a main mounting plate, an end plate and a tail plate; when the main mounting frame is turned to a vertical state, the end plate, the main mounting plate and the tail plate are distributed in sequence from top to bottom; the overturning assembly is fixedly assembled on the end plate, the holding clamping frame is slidably mounted on the main mounting plate, and the lower supporting mechanism and the touch roller are assembled on two sides of the tail plate in a distributed mode.

Preferably, the holding frame is -shaped, and comprises a back plate, a holding clamping plate and a claw plate which are sequentially and vertically arranged in an adjacent manner; the backboard is horizontally and slidably arranged on the main mounting plate; the horizontal two sides of the pushing side plate are correspondingly provided with supporting claw avoiding grooves, and the supporting claw avoiding grooves penetrate through and extend in the vertical direction of the pushing side plate; when the stacking manipulator is inserted into the movable frame in a butt joint mode, the supporting claw plates on the two holding and clamping frames are distributed in the two supporting claw avoiding grooves in a one-to-one correspondence mode.

Preferably, the lower supporting mechanism comprises two horizontally opposite deflection driving supporting plates; when the stacking manipulator descends and is inserted into the movable frame, the material supporting plate deflects to a state that the plate length is perpendicular to the sliding direction of the movable frame, and is used for avoiding stacked feeds; when the stacking manipulator is lifted out of the movable frame, the material supporting plate deflects to a state that the plate length direction is parallel to the sliding direction of the movable frame, and is used for lifting and lifting the stacked feed.

Preferably, the clamping driving assembly is distributed on the other side of the main mounting plate opposite to the clamping frame; the holding clamp driving assembly comprises a driving air cylinder fixed on the end plate and a pull rod fixed on the output rod end of the driving air cylinder; a plurality of connecting rod assemblies are sequentially distributed on the pull rod along the axial direction; the connecting rod assembly comprises a hinging seat fixed on the pull rod and two connecting rods hinged on the hinging seat, and the two connecting rods are hinged on the back plates of the two clamping frames in one-to-one correspondence.

Preferably, the main mounting frame is in a vertical state, the lower support mechanism further comprises a rotating support plate horizontally fixed on the tail plate, the two support plates are vertically rotatably installed on the rotating support plate through rotating shafts, driven gears are fixed at the other ends of the rotating shafts of the support plates, the support plates and the driven gears are respectively arranged on the upper side and the lower side of the rotating support plate, a switching cylinder is horizontally fixed on the tail plate, a rack frame is fixed on an output rod of the switching cylinder, two oppositely arranged driving racks are arranged on the rack frame, and the two driving racks are meshed with the two driven gears in a one-to-one correspondence manner.

Preferably, the turnover assembly comprises a turnover supporting frame, a joint motor is horizontally fixed at the side end of the turnover supporting frame, a turnover frame is horizontally rotatably arranged on the turnover supporting frame, and a rotation shaft of the turnover frame is fixedly connected with an output shaft of the joint motor; the roll-over stand is fixed on the end plate.

Preferably, a plurality of fork material rods are vertically fixed on the holding clamp plate.

The technical scheme has the following advantages or beneficial effects: the invention provides a feed stacking machine, which adopts a mode of pre-stacking and batch indirect transfer stacking to perform feed stacking operation, changes the existing mode of single-pass single forage bag grabbing and stacking, can realize batch stacking of a plurality of forage bags, greatly reduces the frequency of reciprocating between a material taking point and a stacking point, shortens the time consumed by reciprocating travel, simultaneously reduces the whole power consumption, avoids the influence of the distance between the stacking point and the material taking point on the stacking efficiency, and avoids the problem of relative forage packing compression lag of the stacking speed in the actual stacking operation process, thereby integrally improving the production efficiency of feed stacking.

Drawings

The invention and its features, aspects and advantages will become more apparent from the detailed description of non-limiting embodiments with reference to the following drawings. Like numbers refer to like parts throughout the several views, and are not intended to scale, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is a perspective view of a feed palletizing machine according to the present invention in a docked inserted state.

Fig. 2 is a perspective view of the feed palletizing processing machine according to the present invention in another view angle in a butt-inserted state.

Fig. 3 is a side cross-sectional view of the feed palletizing processing machine provided by the invention in a butt-joint insertion state.

Fig. 4 is a bottom view of the feed palletizing machine provided by the present invention in a docked inserted state.

Fig. 5 is a state diagram of the guide palletizing frame when the palletizing robot is not docked.

Fig. 6 is a state diagram of the guide palletizing frame after the palletizing robot is inserted in the butt joint.

Fig. 7 is a perspective view of the fixing frame.

Fig. 8 is a perspective view of the movable frame.

Fig. 9 is a perspective view of the palletizing robot in a first view angle.

Fig. 10 is a perspective view of the palletizing robot in a second view angle.

Fig. 11 is a perspective view of the palletizing robot in a third view angle.

Fig. 12 is a perspective view of the mounting of the drop down mechanism to the main mount.

Fig. 13 is a partial enlarged view at a in fig. 12.

In the figure: 01. guiding a stacking frame; 1. a fixed frame; 11. a floor side plate; 111. a movable frame sliding rail; 12. a material supporting bottom plate; 121. a gap for avoiding the position; 2. a movable frame; 21. sliding the side plates; 211. a slide bar; 212. a return spring; 22. a material blocking side plate; 221. an outer convex position avoiding groove; 222. bending the guide plate; 223. extending the flitch; 23. a pushing side plate; 231. a holding claw clearance groove; 02. a stacking manipulator; 3. a flip assembly; 31. turning over the supporting frame; 32. a joint motor; 33. a roll-over stand; 4. a main mounting rack; 41. a main mounting plate; 411. a horizontal guide rail; 412. a through hole; 42. an end plate; 43. a tail plate; 431. a touch roller; 5. a lower support mechanism; 51. rotating the support plate; 52. a material supporting plate; 53. a driven gear; 54. switching the cylinder; 55. a rack; 551. a drive rack; 6. the grabbing and clamping mechanism; 61. a clamping driving assembly; 611. a driving cylinder; 612. a pull rod; 613. a connecting rod assembly; 6131. a hinge base; 6132. a connecting rod; 62. a clamping frame; 621. a back plate; 6211. a slide block; 622. a clamping plate; 6221. a fork material rod; 623. and a claw supporting plate.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order that those skilled in the art will better understand the present invention, the following description will be given in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, a feed palletizing processing machine comprises a palletizing guiding frame 01 for guiding feed to be stacked in advance and a palletizing manipulator 02 for moving palletized feed, wherein the palletizing guiding frame 01 is fixed at the feed conveying end and the palletizing guiding frame 01 is used for abutting feed to fall into the frame; the stacking manipulator 02 is assembled and arranged in a feed stacking area, and the stacking frame 01 and the stacking manipulator 02 are guided to be in butt joint and matched arrangement. The machine is assembled in a fodder stacking area, fodder is compressed and packed by a fodder compression packer to form fodder bags, the fodder bags are conveyed to the fodder stacking area through a fodder conveyor, and finally the fodder bags are stacked from the conveying end through the machine provided by the invention.

As shown in fig. 2, 3, 4, 5, 6, 7 and 8, the guiding palletizing frame 01 comprises a fixed frame 1 and a movable frame 2 for butting and inserting the palletizing manipulator 02 into the frame, wherein the movable frame 2 is horizontally and slidably arranged on the fixed frame 1; the fixed frame 1 comprises two horizontal opposite ground side plates 11 which are fixed on the ground through foundation bolts, a material supporting bottom plate 12 higher than the ground is welded horizontally between the two ground side plates 11, three movable frame sliding rails 111 which slide horizontally and guide are welded on the inner side plate surface of the ground side plates 11, and the three movable frame sliding rails 111 are all located above the material supporting bottom plate 12 and distributed at equal intervals in the vertical direction. The movable frame 2 is positioned above the material supporting bottom plate 12 and is in an upper-lower open structure, the movable frame 2 comprises two sliding side plates 21 which are horizontally and oppositely arranged, the two sliding side plates 21 are correspondingly and slidably arranged on the two floor side plates 11, three sliding strips 211 which are correspondingly and slidably matched with three movable frame sliding rails 111 on the floor side plates 11 are welded on the plate surface of the sliding side plates 21 outside the movable frame 2, two return springs 212 are horizontally welded between the floor side plates 11 and the sliding side plates 21 which are correspondingly and slidably matched, and the extension and retraction directions of the return springs 212 are arranged along the sliding directions of the sliding side plates 21; a material blocking side plate 22 and a material pushing side plate 23 are welded between the two sliding side plates 21, a material supporting bottom plate 12 is provided with a material blocking notch 121, the material blocking notch 121 is positioned at the side edge close to the material blocking side plate 22, an outer protruding material blocking groove 221 protruding towards the outer frame direction of the movable frame 2 is centrally arranged on the material blocking side plate 22, the outer protruding material blocking groove 221 is of an up-down through structure, a bending guide plate 222 and an extension flitch 223 are respectively welded at the top end and the bottom end of the outer protruding material blocking groove 221 on the material blocking side plate 22, the bending section of the bending guide plate 222 is bent towards the outer frame side of the movable frame 2, and in addition, the extension flitch 223 downwards passes through the material blocking notch 121; the horizontal two sides of the pushing side plate 23 are correspondingly provided with a holding claw avoiding groove 231, and the holding claw avoiding groove 231 penetrates and extends in the vertical direction of the pushing side plate 23.

The guide stacking frame 01 is fixedly installed at the conveying tail end of the forage conveyor in a butt joint mode, a certain height is arranged between the conveying tail end of the forage conveyor and the ground, the height is higher than the whole height of the guide stacking frame 01, and the guide stacking frame 01 is used for guiding a plurality of forage bags falling into the frame to finish stacking in advance. Wherein the pushing side plate 23 is arranged closer to the conveying end than the blocking side plate 22, as shown in fig. 5, which is a state diagram when the stacking manipulator 02 is not inserted in an abutting manner, in which state, the pushing side plate 23 is positioned below the conveying end of the forage conveyor, that is, the conveying end of the forage conveyor extends to the upper part in the frame of the movable frame 2; in addition, the sliding direction of the movable frame 2 is set along the conveying direction at the conveying end of the forage conveyor. When pre-palletizing is performed, square forage packs conveyed from the forage conveyor are conveyed according to a specific conveying state, in this embodiment, in the conveying process, the forage packs are relatively centered in the conveying width direction of the forage conveyor, and the length direction of the forage packs is basically set along the conveying width direction of the forage conveyor, in addition, the in-frame length-width dimensions of the movable frame 2 are all larger than the length-width dimensions of the square forage packs, the forage packs fall into the frame of the movable frame 2 along with conveying from the conveying tail end of the forage conveyor, the first forage pack falls on the supporting bottom plate 12, then a plurality of forage packs falling into the forage packs are automatically palletized and stacked, in the process of falling into the forage packs, the forage packs falling into the forage packs are formed into a surrounding block by the block side plate 22, so that the plurality of forage packs are sequentially attached to the block side plate 22 to complete stacking, and at this time, the forage packs do not contact with the pushing side plate 23.

As shown in fig. 2, 9 and 11, the palletizing manipulator 02 includes a turnover assembly 3 fixed at a moving end of a traveling moving frame, which is a structure included in the present invention, not specifically shown in the drawings, the traveling moving frame is a moving traveling part in the existing palletizing machinery, and includes at least a movement in a horizontal transverse direction, a movement in a horizontal longitudinal direction and a movement in a vertical direction, and the moving end of the traveling moving frame refers to a moving traveling end part including at least the three degrees of freedom in the moving directions; the turnover assembly 3 comprises a turnover supporting frame 31 fixed at the moving end of the walking moving frame through a bolt, a joint motor 32 is horizontally fixed at the side end of the turnover supporting frame 31 through the bolt, a turnover frame 33 is horizontally rotatably installed on the turnover supporting frame 31, and a rotating shaft of the turnover frame 33 is fixedly connected with an output shaft of the joint motor 32; the joint motor 32 is a conventional motor device for controlling the rotation of the angle in the mechanical arm, and the roll-over stand 33 can be driven by the joint motor 32 to horizontally rotate on the roll-over support frame 31, so as to adjust the relative rotation angle between the roll-over stand 33 and the roll-over support frame 31. The main mounting frame 4 is fixedly arranged on the roll-over stand 33, and in the embodiment, the roll-over assembly 3 is used for driving the main mounting frame 4 to roll over and switch between a horizontal state and a vertical state.

As shown in fig. 1, 3, 4, 9, 10, 11, 12 and 13, the main mount 4 includes a main mount plate 41, a header plate 42 and a tail plate 43; when the main mounting frame 4 is turned to a vertical state, the end plates 42, the main mounting plate 41 and the tail plates 43 are distributed in sequence from top to bottom, wherein the end plates 42 are L-shaped, and the end plates 42 are welded on the turning frame 33; the tail plate 43 is provided with a lower supporting mechanism 5 for supporting a plurality of vertically stacked feeds and a touch roller 431 which is horizontally and rotatably arranged through a roller frame, and the lower supporting mechanism 5 and the touch roller 431 are distributed on two sides of the tail plate 43. For convenience of structural description, the main mount 4 is turned to the vertical state in the following description. The lower supporting mechanism 5 comprises two horizontally opposite deflection driving supporting plates 52; a rotating support plate 51 is horizontally welded on one side of the tail plate 43, two material supporting plates 52 are vertically and rotatably installed on the rotating support plate 51 through rotating shafts, driven gears 53 are fixed on the other end of the rotating shafts of the material supporting plates 52, the material supporting plates 52 and the driven gears 53 are respectively arranged on the upper side and the lower side of the rotating support plate 51, a switching cylinder 54 is horizontally fixed on the tail plate 43 through bolts, the switching cylinder 54 and the rotating support plate 51 are located on the same side of the tail plate 43, a rack 55 is fixed on an output rod of the switching cylinder 54 through a connecting plate, the rack 55 can penetrate through two sides of the tail plate 43 and move, two driving racks 551 which are oppositely arranged are arranged on the rack 55, and the two driving racks 551 are meshed with the two driven gears 53 in one-to-one correspondence. When the stacking manipulator 02 descends and is inserted into the frame of the movable frame 2, the material supporting plate 52 deflects to a state that the plate length is perpendicular to the sliding direction of the movable frame 2, and is used for avoiding stacked feeds, and the concrete view is shown in fig. 4; when the stacking manipulator 02 rises to leave the movable frame 2, the material supporting plate 52 deflects to a state that the plate length direction is parallel to the sliding direction of the movable frame 2, and is used for lifting and lifting the stacked feed, specifically, as shown in fig. 4, the rack 55 is driven to move downwards by starting the switching cylinder 54, and the rack 55 correspondingly drives the two driven gears 53 through the two driving racks 551, so that the material supporting plate 52 positioned on the left side deflects 90 degrees clockwise, and the material supporting plate 52 positioned on the right side deflects 90 degrees anticlockwise.

As shown in fig. 1, 3, 4, 9, 10, 11 and 12, the main mounting frame 4 is provided with a grabbing and holding mechanism 6, the grabbing and holding mechanism 6 includes a holding and holding driving assembly 61 and two holding and holding frames 62 driven by the holding and driving assembly 61 to perform feed grabbing and placing, the two holding and holding frames 62 and the lower supporting mechanism 5 are distributed on the same side of the main mounting frame 4, and the two holding and holding frames 62 are horizontally and relatively slidably arranged on the main mounting frame 4. The clamping frame 62 is -shaped, and the clamping frame 62 comprises a back plate 621, a clamping plate 622 and a claw plate 623 which are sequentially and vertically arranged in an adjacent manner; three horizontal guide rails 411 are welded on the main mounting plate 41, and the three horizontal guide rails 411 are uniformly distributed in the vertical direction, and in addition, through holes 412 are correspondingly formed in each horizontal guide rail 411 on the main mounting plate 41; three sliding blocks 6211 which are correspondingly matched with the three horizontal guide rails 411 in a sliding way are welded on the back plate 621, and the back plate 621 is horizontally and slidably arranged on the main mounting plate 41 through the three sliding blocks 6211; a plurality of fork rods 6221 distributed in a rectangular array are welded on the clamping plate 622 relatively vertically; when the stacking manipulator 02 is inserted into the movable frame 2 in a butt joint manner, the supporting claw plates 623 on the two holding and clamping frames 62 are distributed in the two supporting claw avoiding grooves 231 in a one-to-one correspondence manner.

As shown in fig. 3, 9, 10, 11 and 12, the clasping drive assembly 61 is distributed on the other side of the main mounting plate 41 opposite to the clasping frame 62; the clasping drive assembly 61 includes a drive cylinder 611 vertically secured to the end plate 42 and a tie rod 612 secured to the output rod end of the drive cylinder 611; three connecting rod assemblies 613 are sequentially distributed on the pull rod 612 along the axial direction; the connecting rod assembly 613 comprises a hinging seat 6131 which is penetrated and welded on the pull rod 612 and two connecting rods 6132 which are hinged on the hinging seat 6131, the two connecting rods 6132 are hinged on the back plates 621 of the two clamping frames 62 in a one-to-one correspondence manner, one end of each connecting rod 6132 is specifically hinged on the sliding block 6211 of the back plate 621, and the hinged position of each sliding block 6211 and each connecting rod 6132 passes through the through hole 412. When the driving cylinder 611 is started to retract the output rod, the pull rod 612 is driven to move upwards, and the two clamping frames 62 are pulled to slide oppositely through the three groups of connecting rods 6132, so that clamping action is performed. As shown in fig. 1, 2 and 7, when the stacking manipulator 02 is inserted into the movable frame 2 in a butt joint manner, the movable frame 2 is driven to horizontally slide towards the bending direction of the bending guide plate 222 when the touch roller 431 is in rolling contact with the bending section of the bending guide plate 222 in the descending process; when the touch roller 431 passes over the bending section of the bending guide plate 222 in the descending process and is in rolling contact with the vertical plate surface of the material blocking side plate 22, the movable frame 2 stops sliding; when the stacking manipulator 02 is fully inserted, the touch roller 431 and the lower supporting mechanism 5 pass through the avoidance gap 121 and are located below the supporting bottom plate 12.

When carrying out actual pile up neatly operation to the fodder package, pile up neatly manipulator 02 accessible manual control, fodder compression baling press carries out fodder compression baling according to its packing frequency to in time transfer through the fodder conveyer and carry to the fodder and stack the district, and fall into the movable frame 2 in the guide pile up neatly frame 01 with the fodder package, after accomplishing a plurality of fodder packages and stack in advance automatically, make pile up neatly manipulator 02 be in vertical operating condition through the upset switching of upset subassembly 3 at first, then remove pile up neatly manipulator 02 to the position that can dock with guide pile up neatly frame 01 and insert, it is to say, the butt joint insertion position that guide pile up neatly frame 01 set up neatly relatively is the determination position.

Then, by controlling the vertical movement of the stacking manipulator 02, the stacking manipulator 02 is relatively guided to butt-insert the stacking frame 01 in a vertical state, in the descending process, the touch roller 431 is in rolling contact with the bending section of the bending guide plate 222, and moves along the inclined plane of the bending section, the touch roller 431 drives the movable frame 2 to integrally slide towards the bending direction of the bending guide plate 222 by the horizontal tangential force in contact with the inclined plane, in the whole sliding process of the movable frame 2, when in the sliding process of the first half, along with the sliding of the movable frame 2, the material blocking side plate 22 is separated from a plurality of stacked forage bags and gradually pulled to the maximum distance, in the sliding process of the second half, the plate surface part of the pushing side plate 23, which is positioned between the two supporting claw avoiding grooves 231 and is at one side in the frame, is contacted with the forage bags, and pushes the plurality of forage bags to integrally move along with the movable frame 2, therefore, in the pulling distance of the first half is basically unchanged, in the pushing process, a plurality of forage bags are aligned at the length by pushing contact, and when in the pushing process, the pushing roller 431 rolls and is separated from the bending section of the inclined plane, the vertical distance can be pulled through the stacking manipulator 02; as the lowering continues, after the touch roller 431 is separated from the inclined plane, the touch roller 431 rolls against the inner side wall of the outer convex avoidance groove 221 until the touch roller 431 is completely lowered into the movable frame 2 frame, finally the touch roller 431 passes through the avoidance gap 121 and keeps in contact with the extended iron plate, during the lowering process, the two material supporting plates 52 keep deflecting to avoid state, after the butt joint insertion, the two material supporting plates 52 deflect to the lower part of a plurality of forage bags through the switching of the lower supporting mechanism 5, in addition, during the butt joint insertion process, the two holding and clamping frames 62 are in the maximum separation space state, after the insertion, the forage bags are positioned between the two holding and clamping frames 62, and the two holding and clamping plates 623 are distributed at the positions of the two holding and clamping grooves 231 in a one-to-one correspondence, then, the stacking manipulator 02 is controlled to rise for a certain height, so that the two material supporting plates 52 are in the lifting state for a plurality of forage bags stacked in advance, and then, the two holding and clamping frames 62 are driven by the holding and clamping driving assembly 61 to synchronously hold and clamp the plurality of forage bags, the fork rod 6221 is synchronously inserted into the forage bags, then the plurality of forage bags are integrally taken out of the guide stacking frame 01 under the state of vertical lifting and side holding and clamping, then the state is maintained and the forage bags are moved to the forage stacking position, before the stacked forage is placed, the overturning assembly 3 is started again so that the main mounting frame 4 is overturned to be in a horizontal state, the plurality of forage bags are switched to be in a horizontal parallel state from the vertical stacking state, then the height is reduced, the two holding and clamping frames 62 are released by the holding and clamping driving assembly 61, the fork rod 6221 is gradually pulled out from the forage bags in the opening process, the plurality of forage bags synchronously fall between the two claw plates 623, and are stably stacked on the forage pile along with the continuous opening of the two holding and clamping frames 62, the pallet is again returned to the leading pallet 01 and the above operation is repeated to complete the subsequent pallet operation.

The invention provides a feed stacking machine, which adopts a mode of pre-stacking and batch indirect transfer stacking to perform feed stacking operation, changes the existing mode of single-pass single forage bag grabbing and stacking, can realize batch stacking of a plurality of forage bags, greatly reduces the frequency of reciprocating between a material taking point and a stacking point, shortens the time consumed by reciprocating travel, simultaneously reduces the whole power consumption, avoids the influence of the distance between the stacking point and the material taking point on the stacking efficiency, and avoids the problem of relative forage packing compression lag of the stacking speed in the actual stacking operation process, thereby integrally improving the production efficiency of feed stacking.

In addition, in the invention, in the batch stacking process of a plurality of forage bags, the forage bags are stacked vertically in advance, the plurality of forage bags are kept to be integrally and vertically stacked and lifted from a material taking point to a stacking point and are moved and conveyed in a side wall clamping protection mode, and the forage bags are turned and stacked after reaching the stacking point, so that the whole forage conveying process is more stable and safer, and the problem that the forage bags possibly fall in the long-distance stacking and moving process is effectively avoided. Although the plurality of forage bags can be directly and integrally grabbed and conveyed in a horizontal parallel state, in practical cases, for the same forage compression packer, the packing compression size of the forage bags is consistent whether the forage bags are dry or green storage forage, the packing size of the forage bags is larger, in addition, especially, the moisture content of the green storage forage bags is larger, the single green storage forage bags can reach more than hundred jin, so that the problem of low grabbing stability and safety exists in a normal form of horizontal parallel grabbing, and the possibility that the forage bags fall down exists in a long-distance grabbing and moving process.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, wherein devices and structures not described in detail are to be understood as being implemented in a manner common in the art; any person skilled in the art will make many possible variations and modifications, or adaptations to equivalent embodiments without departing from the technical solution of the present invention, which do not affect the essential content of the present invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A fodder pile up neatly processing machinery, its characterized in that: the device comprises a guide stacking frame (01) and a stacking manipulator (02), wherein the guide stacking frame (01) is fixed at the feed conveying tail end, and the guide stacking frame (01) is used for abutting feed to fall into the frame; the guide stacking frame (01) is in butt joint fit with the stacking manipulator (02); wherein:

the guiding stacking frame (01) comprises a fixed frame (1) which is fixedly installed and a movable frame (2) which is used for the butt joint of the stacking manipulator (02) and inserted into the frame, the movable frame (2) is horizontally and slidably installed on the fixed frame (1), and a plurality of return springs (212) which are used for sliding and resetting are connected between the movable frame (2) and the fixed frame (1) in the sliding direction; the fixed frame (1) is horizontally provided with a material supporting bottom plate (12) higher than the ground, the movable frame (2) is located above the material supporting bottom plate (12) and is in an upper-lower open structure, the movable frame (2) comprises two sliding side plates (21) which are horizontally arranged oppositely and are slidably mounted on the fixed frame (1), a material blocking side plate (22) and a material pushing side plate (23) are fixed between the two sliding side plates (21), the material supporting bottom plate (12) is provided with a position avoiding notch (121), the position avoiding notch (121) is located at the side edge close to the material blocking side plate (22), and the top end of the material blocking side plate (22) is provided with a bending guide plate (222) which bends outwards to the frame;

the stacking manipulator (02) comprises a turnover assembly (3), a main mounting frame (4) is fixedly assembled at the turnover end of the turnover assembly (3), and the turnover assembly (3) is used for driving the main mounting frame (4) to turn over and switch between a horizontal state and a vertical state; the main mounting frame (4) is provided with a lower supporting mechanism (5) for supporting a plurality of vertically stacked feeds and touch rollers (431) which are horizontally and rotatably arranged through a roller frame, and when the main mounting frame (4) is turned to a vertical state, the lower supporting mechanism (5) and the touch rollers (431) are close to the bottom of the main mounting frame (4) and distributed on two sides of the main mounting frame (4); the main mounting frame (4) is provided with a grabbing and clamping mechanism (6), the grabbing and clamping mechanism (6) comprises a clamping driving assembly (61) and two clamping frames (62) which are driven by the clamping driving assembly (61) to carry out feed grabbing and placing, the two clamping frames (62) and the lower supporting mechanism (5) are distributed on the same side of the main mounting frame (4), and the two clamping frames (62) are horizontally and relatively arranged on the main mounting frame (4) in a sliding mode.

2. A feed palletizing machine as in claim 1, wherein: the main mounting frame (4) comprises a main mounting plate (41), a head plate (42) and a tail plate (43); when the main mounting frame (4) is turned to a vertical state, the end plate (42), the main mounting plate (41) and the tail plate (43) are distributed in sequence from top to bottom; the overturning assembly (3) is fixedly assembled on the end plate (42), the holding clamping frame (62) is slidably mounted on the main mounting plate (41), and the lower supporting mechanism (5) and the touch roller (431) are assembled on two sides of the tail plate (43) in a distributed mode.

3. A feed palletizing machine as in claim 2, wherein: the clamping frame (62) is of a -shaped frame structure, and the clamping frame (62) comprises a back plate (621), a clamping plate (622) and a claw plate (623) which are sequentially and adjacently and vertically arranged; the backboard (621) is horizontally and slidably arranged on the main mounting plate (41); the horizontal two sides of the pushing side plate (23) are correspondingly provided with supporting claw avoiding grooves (231), and the supporting claw avoiding grooves (231) penetrate and extend in the vertical direction of the pushing side plate (23); when the stacking manipulator (02) is inserted into the movable frame (2) in a butt joint mode, the supporting claw plates (623) on the two holding and clamping frames (62) are distributed in the two supporting claw position avoiding grooves (231) in a one-to-one correspondence mode.

4. A feed palletizing machine as in claim 2, wherein: the lower supporting mechanism (5) comprises two horizontally opposite deflection driving supporting plates (52); when the stacking manipulator (02) descends and is inserted into the frame of the movable frame (2), the material supporting plate (52) deflects to a state that the plate length direction and the sliding direction of the movable frame (2) are perpendicular to each other, and the material supporting plate is used for avoiding stacked feeds; when the stacking manipulator (02) ascends to leave the frame of the movable frame (2), the material supporting plate (52) deflects to a state that the plate length direction and the sliding direction of the movable frame (2) are parallel to each other, and is used for lifting and lifting the stacked feed.

5. A feed palletizing machine as in claim 3, wherein: the clamping driving assembly (61) is distributed on the other side of the main mounting plate (41) opposite to the clamping frame (62); the holding clamp driving assembly (61) comprises a driving air cylinder (611) fixed on the end plate (42) and a pull rod (612) fixed on the output rod end of the driving air cylinder (611); a plurality of connecting rod assemblies (613) are sequentially distributed on the pull rod (612) along the axial direction; the connecting rod assembly (613) comprises a hinging seat (6131) fixed on the pull rod (612) and two connecting rods (6132) hinged on the hinging seat (6131), and the two connecting rods (6132) are hinged on the back plates (621) of the two holding and clamping frames (62) in a one-to-one correspondence mode.

6. A feed palletizing machine as in claim 4, wherein: under main mounting bracket (4) are vertical state, lower support mechanism (5) still include rotation bearing plate (51) of level fixation on tailboard (43), two hold in the palm flitch (52) through the vertical rotation of pivot install on rotation bearing plate (51), the pivot other end that holds in the palm flitch (52) is fixed with driven gear (53), hold in the palm flitch (52) and driven gear (53) and arrange respectively in the upper and lower both sides of rotation bearing plate (51), the level is fixed with switching cylinder (54) on tailboard (43), be fixed with rack (55) on the output pole of switching cylinder (54), be equipped with two drive rack (551) of relative setting on rack (55), two drive rack (551) and two driven gear (53) one-to-one meshing.

7. A feed palletizing machine as in claim 2, wherein: the turnover assembly (3) comprises a turnover supporting frame (31), a joint motor (32) is horizontally fixed at the side end of the turnover supporting frame (31), a turnover frame (33) is horizontally rotatably installed on the turnover supporting frame (31), and a rotating shaft of the turnover frame (33) is fixedly connected with an output shaft of the joint motor (32); the roll-over stand (33) is fixed on the end plate (42).

8. A feed palletizing machine as in claim 3, wherein: a plurality of fork material rods (6221) are vertically fixed on the holding clamp plate (622).