CN212953142U - Stacking robot for fertilizer finished product transportation - Google Patents

Abstract

The utility model relates to a fertilizer pile up neatly machine technical field specifically is pile up neatly machine people is used in fertilizer finished product transportation for it does not have corresponding protector to solve the pile up neatly machine people among the prior art, thereby probably damages the wrapping bag and injures workman's problem by a crashing object. The utility model discloses a base, install rotating electrical machines, pivot, roof in the base, vertical cylinder is installed to the bottom surface of roof, install on the piston rod of vertical cylinder and snatch the mechanism, the bottom surface of roof is located the both sides of snatching the mechanism and still installs protection machanism, protection machanism is including installing the vertical board in the roof bottom surface, horizontal cylinder is installed to the lower part of vertical board, install the protection component who is located the horizontal direction on horizontal cylinder's the piston rod. The utility model discloses an at the bottom surface installation protection machanism of roof, protection machanism can prevent that the fertilizer finished product in bags from snatching the mechanism and directly dropping on ground, and damage the wrapping bag and injure the workman by a crashing object.

Description

Stacking robot for fertilizer finished product transportation

Technical Field

The utility model relates to a fertilizer pile up neatly machine technical field, more specifically relate to pile up neatly machine people is used in fertilizer finished product transportation.

Background

The fertilizer is a substance which provides one or more nutrient elements necessary for plants, improves the soil property and improves the soil fertility level, is one of the material bases of agricultural production, and mainly comprises ammonium phosphate fertilizers, macroelement water-soluble fertilizers, secondary element fertilizers, biological fertilizers, organic fertilizers, multi-dimensional field energy concentrated organic fertilizers and the like. The fertilizer needs to be packaged after being produced, and the packaged fertilizer is stacked for subsequent delivery, and a corresponding stacking robot is generally used for improving stacking efficiency of fertilizer finished products.

In the prior art, the robot palletizer comprises a mechanical arm for carrying and a gripper for gripping an object, the mechanical arm is movably connected with the gripper, the gripper comprises a platform, the finger that a pair of symmetry set up and drive finger pivoted slewing mechanism, two parallel arrangement's linear guide are installed to the platform below, install slider group on the linear guide, slider group includes four sliders, install two sliders on every linear guide, the slider that lies in same one side on two linear guide is a set of, the both ends of every finger are articulated respectively and are installed on same a set of slider, still have the translation mechanism that drives every finger translation on linear guide, the position that lies in on the platform between a pair of finger installs a plurality of vacuum chuck that are used for absorbing the material and the elevating system of drive vacuum chuck up-and-down motion, can be very big improvement its pile a yard efficiency through this pile a yard robot.

However, when the stacking robot grabs the fertilizer finished products by the grippers, the packaging bags containing the fertilizer finished products may fall off the grippers because the grippers do not grip the fertilizer finished products or because the grippers suddenly lose power, so that the fertilizer packaging bags may be damaged, and workers may be hit. Therefore, a need exists for a palletizing robot for transporting fertilizer finished products, which can prevent the fertilizer finished products from falling off the grippers, damaging the packaging bags and smashing workers.

SUMMERY OF THE UTILITY MODEL

Based on above problem, the utility model aims to: the stacking robot for transporting the fertilizer finished products is used for solving the problems that the stacking robot in the prior art does not have a corresponding protection device, the bagged fertilizer finished products fall off from the grippers, and a packaging bag is possibly damaged and workers are injured by smashing. The utility model discloses a be located the both sides of snatching the mechanism in the bottom surface of roof and still install protection machanism, snatch the in-process of mechanism to the transport of fertilizer finished product in bags, protection machanism can prevent that the fertilizer finished product in bags from snatching the mechanism and directly dropping on ground, and damage the wrapping bag and injure the workman by a crashing object.

The utility model discloses a realize above-mentioned purpose and specifically adopt following technical scheme:

pile up neatly machine people is used in fertilizer finished product transportation, the on-line screen storage device comprises a base, install the rotating electrical machines in the base, be connected with the pivot that passes the base and be located vertical direction on the motor shaft of rotating electrical machines, the upper end of pivot is connected with the roof, vertical cylinder is installed to the bottom surface of roof, install on the piston rod of vertical cylinder and snatch the mechanism, the bottom surface of roof is located the both sides of snatching the mechanism and still installs protection machanism, protection machanism is including installing the vertical board in the roof bottom surface, horizontal cylinder is installed to the lower part of vertical board, install the protection component who is located the horizontal direction on horizontal cylinder.

The protection assembly comprises a horizontal plate installed on a horizontal cylinder, and a plurality of horizontal rods are connected to the side face of the horizontal plate along the length direction of the horizontal plate.

The grabbing mechanism comprises a connecting plate arranged on a vertical cylinder, and a plurality of suckers are arranged on the bottom surface of the connecting plate.

In order to facilitate the selection of different vertical plates according to actual conditions, a preferred structure for facilitating the replacement of the vertical plates is given below: the roof includes plate body and two connection mouths of shaping as an organic whole each other, two the connection mouth sets up the bottom surface at the plate body, vertical board can be dismantled with the connection mouth and be connected.

The connecting mouth is provided with a connecting port, the upper end of the connecting plate is positioned in the connecting port, the connecting plate is connected with the connecting mouth through a screw rod, and locking nuts are arranged at two ends of the screw rod.

The bottom surface of roof is opened there is last annular groove, the top surface of base is opened there is lower annular groove, go up the annular groove and install a support section of thick bamboo between the annular groove down.

One side of the base, which is far away from the grabbing mechanism, is connected with an eccentric block, and the eccentric block is connected with the ground through a bolt.

The stacking method of the stacking robot for fertilizer finished product transportation comprises the following steps:

step 1: the controller controls the rotating motor to drive the grabbing mechanism to be positioned above the bagged fertilizer finished product to be carried;

step 2: the vertical cylinder is controlled by the controller to drive the sucker to move towards the direction of the bagged fertilizer finished product until the sucker is contacted with the bagged fertilizer finished product;

and step 3: the controller controls the sucker to suck the bagged fertilizer finished product, and controls the vertical cylinder to contract upwards until the bagged fertilizer finished product is positioned above the horizontal rod;

and 4, step 4: the piston rod of the horizontal cylinder is controlled by the controller to extend out until the horizontal cylinder drives the horizontal rod to be positioned under the bagged fertilizer finished product;

and 5: the controller controls the rotating motor to rotate towards the stacking platform, and then controls the piston rod of the horizontal cylinder to contract until the piston rod contracts to the original position;

step 6: the piston rod of the vertical cylinder is controlled to extend out through the controller, then the sucker is controlled not to suck finished bagged fertilizer, and the finished bagged fertilizer can be conveyed to the stacking platform from the conveying line;

and 7: and (5) repeating the steps 1-6.

The utility model has the advantages as follows:

(1) the utility model discloses a be located the both sides of snatching the mechanism in the bottom surface of roof and still install protection machanism, snatch the in-process of mechanism to the transport of fertilizer finished product in bags, protection machanism can prevent that the fertilizer finished product in bags from snatching the mechanism and directly dropping on ground, and damage the wrapping bag and injure the workman by a crashing object.

(2) The utility model discloses in when changing vertical board according to actual need, can dismantle the lock nut at screw rod both ends get off, then dismantle the screw rod from connecting mouth and vertical board, just so can take out vertical board from the connector, then change the suitable vertical board of length, vertical board after rethread screw rod and lock nut will change is together fixed with connecting the mouth, convenient different vertical board of changing according to actual need like this.

(3) The utility model discloses the bottom surface of well roof is opened there is last annular groove, and the top surface of base is opened there is lower annular groove, goes up the annular groove and installs a support section of thick bamboo between the annular groove down, and when rotating electrical machines drove the roof rotation, a support section of thick bamboo that lies in between roof and base can be rotatory for last annular groove and lower annular groove, supports a section of thick bamboo like this and can play the supporting role to the roof.

Drawings

FIG. 1 is a schematic view of the front cross-sectional structure of the present invention without using a grasping mechanism;

FIG. 2 is a schematic view of the front sectional structure of the grabbing mechanism of the present invention when grabbing the bagged fertilizer product;

FIG. 3 is a schematic view of the front sectional structure of the grabbing mechanism of the present invention when transporting bagged fertilizer products;

FIG. 4 is a schematic view of the protective mechanism of the present invention;

FIG. 5 is a schematic view of the structure of the suction cup of the present invention when it is mounted on the bottom surface of the connection plate;

FIG. 6 is a schematic view of the top plate of the present invention in a front sectional view;

reference numerals: 1 eccentric block, 2 bases, 3 rotating electrical machines, 4 supporting cylinders, 5 rotating shafts, 6 top plates, 61 upper annular grooves, 7 screw rods, 8 locking nuts, 9 vertical cylinders, 10 vertical plates, 11 horizontal rods, 12 horizontal plates, 13 horizontal cylinders, 14 suckers, 15 connecting plates, 16 connecting nozzles and 161 connecting ports.

Detailed Description

For a better understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and the following embodiments.

Example 1:

as shown in fig. 1-6, pile up neatly machine people is used in fertilizer finished product transportation, including base 2, install rotating electrical machines 3 in the base 2, be connected with on the motor shaft of rotating electrical machines 3 and pass base 2 and be located the pivot 5 of vertical direction, the upper end of pivot 5 is connected with roof 6, vertical cylinder 9 is installed to the bottom surface of roof 6, install on the piston rod of vertical cylinder 9 and snatch the mechanism, the bottom surface of roof 6 is located the both sides of snatching the mechanism and still installs protection machanism, protection machanism is including installing vertical board 10 in roof 6 bottom surface, horizontal cylinder 13 is installed to the lower part of vertical board 10, install the protection component who is located the horizontal direction on the piston rod of horizontal.

Wherein, the protection component comprises a horizontal plate 12 arranged on a horizontal cylinder 13, and the side surface of the horizontal plate 12 is connected with a plurality of horizontal rods 11 along the length direction thereof.

The grabbing mechanism comprises a connecting plate 15 arranged on the vertical cylinder 9, and a plurality of suckers 14 are arranged on the bottom surface of the connecting plate 15.

The working principle is as follows: still install the controller in base 2, the controller can edit corresponding code, controller and rotating electrical machines 3, vertical cylinder 9, horizontal cylinder 13, sucking disc 14 electric connection to rotating electrical machines 3, vertical cylinder 9, horizontal cylinder 13, sucking disc 14 are controlled, like this controller and rotating electrical machines 3, vertical cylinder 9, horizontal cylinder 13, the circuit connection of sucking disc 14 to and corresponding control mode are prior art can realize.

When the bagged fertilizer finished product is conveyed from a conventional conveyor belt, the rotating motor 3 rotates to drive the rotating shaft 5 to rotate, the rotating shaft 5 drives the top plate 6 to rotate, the top plate 6 finally drives the sucking disc 14 to rotate above the bagged fertilizer finished product, the controller controls the piston of the vertical cylinder 9 to extend downwards in a conventional mode until the sucking disc 14 sucks the bagged fertilizer finished product in the conventional mode, and then controls the vertical cylinder 9 to shrink upwards until the bagged fertilizer finished product is positioned above the horizontal rod 11; then, a piston rod of the horizontal cylinder 13 is controlled to extend out through the controller until the horizontal cylinder 13 drives the horizontal rod 11 to be positioned under the bagged fertilizer finished product; the controller controls the rotating motor 3 to rotate towards the stacking platform, and then controls the piston rod of the horizontal cylinder 13 to contract until the piston rod contracts to the original position; the piston rod of the vertical cylinder 9 is controlled by the controller to extend out, then the sucker 14 is controlled to no longer suck the bagged fertilizer finished product, and the bagged fertilizer finished product can be conveyed to the stacking platform from the conveying line, and the process is circulated until the bagged fertilizer finished product needing stacking is stacked.

Absorb fertilizer finished product in bags and carry the in-process of fertilizer finished product in bags to the assigned position through sucking disc 14, if cut off the power supply suddenly or sucking disc 14 does not absorb fertilizer finished product in bags live, and make fertilizer finished product in bags drop from sucking disc 14 when coming down, horizontal pole 11 among two sets of protection machanism is located fertilizer finished product in bags's below, fertilizer finished product in bags can drop on a plurality of horizontal poles 11, and can not continue to drop downwards, the off-the-shelf wrapping bag of fertilizer in bags just can not damage because of dropping on ground like this, also can not injure the workman by a crashing object.

Example 2:

as shown in fig. 1 to 6, on the basis of the above embodiment 1, the present embodiment is provided to facilitate selection of different vertical plates 10 according to actual conditions, and a preferable structure to facilitate replacement of the vertical plates 10 is provided below, that is, the top plate 6 includes a plate body and two connecting nozzles 16 which are integrally formed with each other, the two connecting nozzles 16 are provided on the bottom surface of the plate body, and the vertical plates 10 are detachably connected to the connecting nozzles 16. A connecting port 161 is formed in the connecting nozzle 16, the upper end of the connecting plate 15 is located in the connecting port 161, the connecting plate 15 is connected with the connecting nozzle 16 through the screw 7, and the two ends of the screw 7 are provided with the locking nuts 8.

In this embodiment: when changing vertical board 10 according to actual need, can dismantle the lock nut at screw 7 both ends, then dismantle screw 7 from connector mouth 16 and vertical board 10, just so can take vertical board 10 out from connector 161, then change the vertical board 10 that length is suitable, the vertical board 10 after rethread screw 7 and lock nut 8 will be changed is together fixed with connector mouth 16, convenient different vertical board 10 of changing according to actual need like this.

Preferably, the bottom surface of the top plate 6 is provided with an upper annular groove 61, the top surface of the base 2 is provided with a lower annular groove, and the support cylinder 4 is arranged between the upper annular groove 61 and the lower annular groove. When the rotating motor 3 drives the top plate 6 to rotate, the supporting cylinder 4 positioned between the top plate 6 and the base 2 can rotate relative to the upper annular groove 61 and the lower annular groove, so that the supporting cylinder 4 can support the top plate 6.

One side of the base 2, which is far away from the grabbing mechanism, is connected with the eccentric block 1, the eccentric block 1 is connected with the ground through a bolt, and the eccentric block 1 can enable the whole stacking robot to be more balanced, so that the stacking robot can be more stable.

Example 3:

as shown in fig. 1-6, the palletizing method of the palletizing robot for transporting fertilizer finished products comprises the following steps:

step 1: the controller controls the rotating motor 3 to drive the grabbing mechanism to be positioned above the bagged fertilizer finished product to be carried;

step 2: the vertical cylinder 9 is controlled by the controller to drive the sucker 14 to move towards the finished bagged fertilizer until the sucker 14 is contacted with the finished bagged fertilizer;

and step 3: the controller controls the sucker 14 to suck finished bagged fertilizer, and controls the vertical cylinder 9 to contract upwards until the finished bagged fertilizer is positioned above the horizontal rod 11;

and 4, step 4: the piston rod of the horizontal cylinder 13 is controlled by the controller to extend out until the horizontal cylinder 13 drives the horizontal rod 11 to be positioned under the bagged fertilizer finished product;

and 5: the controller controls the rotating motor 3 to rotate towards the stacking platform, and then controls the piston rod of the horizontal cylinder 13 to contract until the piston rod contracts to the original position;

step 6: the piston rod of the vertical cylinder 9 is controlled to extend out through the controller, then the sucker 14 is controlled to not suck the bagged fertilizer finished product, and the bagged fertilizer finished product can be conveyed to the stacking platform from the conveying line;

and 7: and (5) repeating the steps 1-6.

Through the stacking method, the sucker 14 absorbs the bagged fertilizer finished products and carries the bagged fertilizer finished products to a specified position, if the power is suddenly cut off or the sucker 14 does not absorb the bagged fertilizer finished products, and when the bagged fertilizer finished products drop from the sucker 14, the horizontal rods 11 in the two groups of protection mechanisms are positioned below the bagged fertilizer finished products, the bagged fertilizer finished products can drop on the horizontal rods 11 and cannot continuously drop downwards, so that the packaging bags of the bagged fertilizer finished products cannot be damaged due to dropping on the ground, and workers cannot be injured by smashing.

The embodiment of the present invention is the above. The specific parameters in the above embodiments and examples are only for the purpose of clearly showing the verification process of the present invention, and are not used to limit the protection scope of the present invention, which is still subject to the claims, and all the equivalent structural changes made by using the contents of the specification and drawings of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. Pile up neatly machine people is used in transportation of fertilizer finished product, including base (2), its characterized in that: install rotating electrical machines (3) in base (2), be connected with pivot (5) that pass base (2) and be located vertical direction on the motor shaft of rotating electrical machines (3), the upper end of pivot (5) is connected with roof (6), vertical cylinder (9) are installed to the bottom surface of roof (6), install on the piston rod of vertical cylinder (9) and snatch the mechanism, the bottom surface of roof (6) is located the both sides of snatching the mechanism and still installs protection machanism, protection machanism is including installing vertical board (10) in roof (6) bottom surface, horizontal cylinder (13) are installed to the lower part of vertical board (10), install the protection component who is located the horizontal direction on the piston rod of horizontal cylinder (13).

2. The palletizing robot for transporting fertilizer finished products as claimed in claim 1, wherein: the protection assembly comprises a horizontal plate (12) installed on a horizontal cylinder (13), and a plurality of horizontal rods (11) are connected to the side face of the horizontal plate (12) along the length direction of the horizontal plate.

3. The palletizing robot for transporting fertilizer finished products as claimed in claim 1, wherein: the grabbing mechanism comprises a connecting plate (15) installed on a vertical cylinder (9), and a plurality of suckers (14) are installed on the bottom surface of the connecting plate (15).

4. The palletizing robot for transporting fertilizer finished products as claimed in claim 3, wherein: roof (6) are including the plate body and two connection mouth (16) of mutual shaping as an organic whole, two connection mouth (16) set up the bottom surface at the plate body, vertical board (10) can be dismantled with connection mouth (16) and be connected.

5. The palletizing robot for transporting finished fertilizer products as claimed in claim 4, wherein: the connecting mouth (16) is provided with a connecting port (161), the upper end of the connecting plate (15) is positioned in the connecting port (161), the connecting plate (15) is connected with the connecting mouth (16) through a screw rod (7), and locking nuts (8) are installed at two ends of the screw rod (7).

6. The palletizing robot for transporting fertilizer finished products as claimed in claim 1, wherein: the bottom surface of roof (6) is opened there is upper ring groove (61), the top surface of base (2) is opened there is lower annular groove, install between upper ring groove (61) and lower annular groove and support a section of thick bamboo (4).

7. The palletizing robot for transporting fertilizer finished products as claimed in claim 1, wherein: one side of the base (2) far away from the grabbing mechanism is connected with an eccentric block (1), and the eccentric block (1) is connected with the ground through a bolt.

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