CN215012114U - Automatic bagging manipulator - Google Patents
Automatic bagging manipulator Download PDFInfo
- Publication number
- CN215012114U CN215012114U CN202121485819.3U CN202121485819U CN215012114U CN 215012114 U CN215012114 U CN 215012114U CN 202121485819 U CN202121485819 U CN 202121485819U CN 215012114 U CN215012114 U CN 215012114U
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- CN
- China
- Prior art keywords
- collet
- plate
- movable plate
- automatic bagging
- mounting panel
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- 238000009434 installation Methods 0.000 claims description 31
- 210000000078 claw Anatomy 0.000 claims description 23
- 241000233866 Fungi Species 0.000 description 21
- 238000007599 discharging Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- VQKWAUROYFTROF-UHFFFAOYSA-N arc-31 Chemical compound O=C1N(CCN(C)C)C2=C3C=C4OCOC4=CC3=NN=C2C2=C1C=C(OC)C(OC)=C2 VQKWAUROYFTROF-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000001963 growth medium Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Images
Landscapes
- Mushroom Cultivation (AREA)
Abstract
The utility model provides an automatic bagging manipulator, which comprises a fixed plate and i, cylinder and two collets, two collets symmetry sets up, the collet includes arc and mounting panel, the mounting panel rotates with the movable plate to be connected, be connected with the spring between mounting panel and the movable plate, the mounting panel is connected with the arc is perpendicular, the arc is kept away from the one end of mounting panel and has been seted up V type breach, the movable plate is installed on the slider, the slider is installed on the slide rail, the slide rail is installed on the fixed plate, the mid-mounting of slide rail has the stopper, two collets set up for the stopper symmetry, the position that lies in the collet inboard on the movable plate is provided with spacing post No. one, the position that lies in the collet outside on the movable plate is provided with spacing post No. two, the position that lies in the collet outside on the movable plate installs the sensor, the both ends of cylinder are connected with two movable plates respectively. The design is simple in structure, high in bagging accuracy and high in automation degree.
Description
Technical Field
The utility model relates to an edible mushroom machinery especially relates to an automatic bagging manipulator, is mainly applicable to and simplifies the structure, improves the bagging degree of accuracy.
Background
With the continuous innovation of edible fungus cultivation technology, bag cultivation gradually becomes an effective important way for cultivating edible fungi, various agricultural and forestry byproducts are used as main raw materials, a proper amount of auxiliary materials are added, and the auxiliary materials are filled into bags to support culture media to replace traditional cultivation materials such as logs, logs and the like. In the cultivation process of bagged edible fungi, bagging of culture mediums such as wood chips and the like is an important and tedious production process. At present, a manual mode is mostly adopted, so that the working efficiency is low, the working intensity is high, and a large amount of labor and a large area are needed; mechanical and manual combination is also adopted for bagging, for example, a horizontal edible fungus culture material bagging machine is adopted, and when feeding is carried out, a fungus bag is manually sleeved on a discharging barrel, so that the working efficiency and the accuracy are low; also adopt full-automatic mode to carry out the bagging-off, come the cooperation to accomplish bagging-off work through the manipulator, but current manipulator structure is complicated, and the cover bag degree of accuracy is lower.
Disclosure of Invention
The utility model aims at overcoming the defect and the problem that the structure is complicated, the bagging degree of accuracy is low that exist among the prior art, providing an automatic bagging machine hand that simple structure, bagging degree of accuracy are high.
In order to achieve the above purpose, the technical solution of the utility model is that: the utility model provides an automatic bagging manipulator, includes fixed plate, cylinder and two collets, two the collet symmetry sets up, and two collets rotate respectively and install on two movable plates, the movable plate is installed on the slider, and the slider is installed on the slide rail, and the slide rail is installed on the fixed plate, the position that lies in the collet inboard on the movable plate is provided with spacing post No. one, and the position that lies in the collet outside on the movable plate is provided with spacing post No. two, is connected with the spring between movable plate and the collet, the both ends of cylinder are connected with two movable plates respectively.
The collet includes arc and mounting panel, the mounting panel includes installation department and connecting portion, the installation department rotates with the movable plate to be connected, is connected with the spring between installation department and the movable plate, connecting portion are the arc structure, and connecting portion are connected with the arc is perpendicular.
And one end of the arc-shaped plate, which is far away from the connecting part, is provided with a V-shaped notch.
The position inboard that lies in installation department and connecting portion junction on the mounting panel is provided with the spacing groove No. one with spacing post matched with, the position outside that lies in installation department and connecting portion junction on the mounting panel is provided with the spacing groove No. two with No. two spacing post matched with.
The movable plate is provided with an installation column, and the installation part is sleeved on the installation column through a bearing.
The installation part is of a triangular structure.
And a sensor is arranged at the position of the moving plate, which is positioned at the outer side of the collet.
The middle part of the slide rail is provided with a limiting block, and the two collet claws are symmetrically arranged relative to the limiting block.
The fixed plate is installed on the bottom plate, the two ends of the bottom plate are connected with the baffle plates, and the fixed plate is located between the two baffle plates.
And a third limiting column is arranged on the baffle.
Compared with the prior art, the beneficial effects of the utility model are that:
1. in the automatic bagging manipulator of the utility model, two claws are symmetrically arranged, the two claws are respectively rotatably mounted on two movable plates, the movable plates are mounted on a slide block, the slide block is mounted on a slide rail, the slide rail is mounted on a fixed plate, a first limiting column is arranged at the position on the movable plate, which is positioned at the inner side of the claw, a second limiting column is arranged at the position on the movable plate, which is positioned at the outer side of the claw, a spring is connected between the movable plate and the claws, and the two ends of the cylinder are respectively connected with the two movable plates; when the bag sleeving manipulator is used, the cylinder is controlled to drive the two movable plates to move oppositely to enable the two claws to be closed, the manipulator is controlled to sleeve the closed two claws into the fungus bag, then the cylinder is controlled to drive the two movable plates to move reversely to enable the two claws to be separated, the two separated claws are used for opening the mouth of the fungus bag to enable the fungus bag to be sleeved on the claws, the manipulator is controlled to sleeve the opened fungus bag on the discharging barrel, and when the fungus bag is sleeved in place, the manipulator is controlled to leave the discharging barrel to perform next bag sleeving. Therefore, the utility model discloses simple structure, degree of automation are high, the cover bag degree of accuracy is high.
2. The utility model relates to an automatic bag-sleeving mechanical arm, the collet comprises an arc-shaped plate and a mounting plate, the mounting plate comprises a triangular mounting part and an arc-shaped connecting part, the mounting part is rotatably connected with a movable plate, the connecting part is vertically connected with the arc-shaped plate, the collet with the structure can not only ensure that two collets are accurately folded to take a bag, but also ensure that no interference exists among all parts; a first limiting groove matched with the first limiting column is formed in the inner side of the mounting plate, and a second limiting groove matched with the second limiting column is formed in the outer side of the mounting plate, so that the collet is more reliably limited; a V-shaped notch is formed in one end, away from the connecting part, of the arc-shaped plate, and the V-shaped notch is additionally formed in the collet, so that the contact area between the collet and the fungus bag is reduced when the bag is taken by a manipulator, and the bag taking accuracy is further improved; the movable plate is provided with an installation column, and the installation part is sleeved on the installation column through a bearing, so that the collet is simple and convenient to install and disassemble. Therefore, the utility model discloses get the bag degree of accuracy height, reliability height, installation and dismantle portably.
3. In the automatic bagging manipulator of the utility model, a sensor is arranged at the position outside a collet on a movable plate, when the sensor detects that the collet moves in place, namely a fungus bag is sleeved in place, the manipulator is controlled to leave a discharge cylinder for next bagging; the middle part of the sliding rail is provided with a limiting block, and the two collet jaws are symmetrically arranged relative to the limiting block, so that the two collet jaws are accurately centered when being closed, and the accuracy of bagging is improved. The utility model discloses degree of automation is high, the reliability is high, the degree of accuracy is high.
4. The utility model relates to an among the automatic mechanical hand of cover bag, the fixed plate is installed on the bottom plate, and the both ends of bottom plate are connected with the baffle, and the fixed plate is located between two baffles, installs No. three spacing posts on the baffle, and above-mentioned design limits the displacement of movable plate and the stroke of movable plate through the baffle to accurate reliable control collet's removal improves the reliability and the degree of accuracy of manipulator. Therefore, the utility model discloses the reliability is high, the degree of accuracy is high.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the collet of fig. 1.
Fig. 3 is a schematic view of the two collets in the present invention in a closed state.
Fig. 4 is a schematic diagram of the state of the mechanical arm sleeving bag in the present invention.
In the figure: the fixing plate comprises a fixing plate 1, a cylinder 2, a collet 3, an arc-shaped plate 31, a V-shaped notch 311, a mounting plate 32, a mounting portion 321, a connecting portion 322, a first limiting groove 323, a second limiting groove 324, a moving plate 4, a first limiting column 41, a second limiting column 42, a mounting column 43, a sliding block 5, a sliding rail 6, a spring 7, a bearing 8, a sensor 9, a limiting block 10, a bottom plate 11, a baffle plate 12, a third limiting column 13 and a fungus bag 14.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 4, an automatic bagging manipulator comprises a fixed plate 1, a cylinder 2 and two collet jaws 3, wherein the collet jaws 3 are symmetrically arranged, the two collet jaws 3 are respectively rotatably arranged on two movable plates 4, the movable plates 4 are arranged on a sliding block 5, the sliding block 5 is arranged on a sliding rail 6, the sliding rail 6 is arranged on the fixed plate 1, a first limiting column 41 is arranged at the position, located on the inner side of the collet jaws 3, on the movable plate 4, a second limiting column 42 is arranged at the position, located on the outer side of the collet jaws 3, on the movable plate 4, a spring 7 is connected between the movable plate 4 and the collet jaws 3, and two ends of the cylinder 2 are respectively connected with the two movable plates 4.
The collet 3 includes arc 31 and mounting panel 32, the mounting panel 32 includes installation department 321 and connecting portion 322, installation department 321 rotates with the movable plate 4 to be connected, is connected with spring 7 between installation department 321 and the movable plate 4, connecting portion 322 is the arc structure, and connecting portion 322 is connected with arc 31 is perpendicular.
One end of the arc plate 31 far away from the connecting part 322 is provided with a V-shaped notch 311.
The position inboard that lies in installation department 321 and connecting portion 322 junction on the mounting panel 32 is provided with No. one spacing groove 323 with a spacing post 41 matched with, and the position outside that lies in installation department 321 and connecting portion 322 junction on the mounting panel 32 is provided with No. two spacing grooves 324 with No. two spacing post 42 matched with.
The moving plate 4 is provided with a mounting column 43, and the mounting portion 321 is sleeved on the mounting column 43 through a bearing 8.
The mounting portion 321 has a triangular structure.
And a sensor 9 is arranged on the moving plate 4 and positioned outside the collet 3.
The middle part of the slide rail 6 is provided with a limiting block 10, and the two collet claws 3 are symmetrically arranged relative to the limiting block 10.
The fixed plate 1 is installed on a bottom plate 11, two ends of the bottom plate 11 are connected with baffle plates 12, and the fixed plate 1 is located between the two baffle plates 12.
And a third limiting column 13 is arranged on the baffle 12.
The principle of the utility model is explained as follows:
when the manipulator sleeves and takes the fungus bag, the cylinder is controlled to drive the two movable plates to move in opposite directions to enable the two claws to be folded, at the moment, the top ends of the mounting parts of the two claws are jointed, the top ends and the bottom ends of the connecting parts of the two claws are jointed, two side surfaces of the arc-shaped plates of the two claws are jointed, the outer wall of the second limiting column is jointed with the inner wall of the second limiting groove, the manipulator is controlled to sleeve the two folded claws in the fungus bag, then the cylinder is controlled to drive the two movable plates to move in opposite directions to enable the two claws to be separated, the two separated claws prop open the mouth of the fungus bag to enable the fungus bag to be sleeved on the claws, meanwhile, the two claws rotate anticlockwise under the action of the fungus bag, when the outer wall of the first limiting column is jointed with the inner wall of the first limiting groove, the manipulator is controlled to move horizontally to sleeve the propped fungus bag on the discharging cylinder, after the fungus bag suit targets in place, two collets break away from the constraint of fungus bag, and under the effect of spring, two collets all rotate clockwise, stop rotating when the outer wall of No. two spacing posts and the inner wall of No. two spacing grooves are laminated mutually, and at this moment, the sensor detects the collet motion and targets in place after, control manipulator leaves out the feed cylinder and carries out the bagging of next time.
The bagging manipulator is installed on the lifting device and the horizontal moving device through the bottom plate, the lifting device controls the bagging manipulator to move up and down, and the horizontal moving device controls the bagging manipulator to move horizontally, so that the bagging manipulator finishes bag taking and bagging procedures.
Example 1:
referring to fig. 1 to 4, an automatic bagging manipulator comprises a fixed plate 1, a cylinder 2 and two collet jaws 3, wherein the collet jaws 3 are symmetrically arranged, the two collet jaws 3 are respectively rotatably arranged on two movable plates 4, the movable plates 4 are arranged on a sliding block 5, the sliding block 5 is arranged on a sliding rail 6, the sliding rail 6 is arranged on the fixed plate 1, a first limiting column 41 is arranged at the position, located on the inner side of the collet jaws 3, on the movable plate 4, a second limiting column 42 is arranged at the position, located on the outer side of the collet jaws 3, on the movable plate 4, a spring 7 is connected between the movable plate 4 and the collet jaws 3, and two ends of the cylinder 2 are respectively connected with the two movable plates 4.
Example 2:
the basic contents are the same as example 1, except that:
the collet 3 comprises an arc-shaped plate 31 and an installation plate 32, the installation plate 32 comprises an installation part 321 and a connecting part 322, the installation part 321 is rotatably connected with the moving plate 4, a spring 7 is connected between the installation part 321 and the moving plate 4, the connecting part 322 is of an arc-shaped structure, and the connecting part 322 is vertically connected with the arc-shaped plate 31; one end of the arc-shaped plate 31, which is far away from the connecting part 322, is provided with a V-shaped notch 311; a first limiting groove 323 matched with the first limiting column 41 is formed in the inner side of the part, located at the joint of the mounting part 321 and the connecting part 322, of the mounting plate 32, and a second limiting groove 324 matched with the second limiting column 42 is formed in the outer side of the part, located at the joint of the mounting part 321 and the connecting part 322, of the mounting plate 32; the moving plate 4 is provided with a mounting column 43, and the mounting part 321 is sleeved on the mounting column 43 through a bearing 8; the mounting portion 321 has a triangular structure.
Example 3:
the basic contents are the same as example 1, except that:
and a sensor 9 is arranged on the moving plate 4 and positioned outside the collet 3.
Example 4:
the basic contents are the same as example 1, except that:
the middle part of the slide rail 6 is provided with a limiting block 10, and the two collet claws 3 are symmetrically arranged relative to the limiting block 10.
Example 5:
the basic contents are the same as example 1, except that:
the fixed plate 1 is installed on a bottom plate 11, two ends of the bottom plate 11 are connected with baffle plates 12, the fixed plate 1 is located between the two baffle plates 12, and a third limiting column 13 is installed on each baffle plate 12.
Claims (10)
1. The utility model provides an automatic bagging manipulator, its characterized in that includes fixed plate (1), cylinder (2) and two collet (3), two collet (3) symmetry sets up, and two collet (3) rotate respectively and install on two movable plates (4), movable plate (4) are installed on slider (5), and slider (5) are installed on slide rail (6), and slide rail (6) are installed on fixed plate (1), the position that lies in collet (3) inboard on movable plate (4) is provided with spacing post (41) No. one, and the position that lies in the collet (3) outside on movable plate (4) is provided with No. two spacing posts (42), is connected with spring (7) between movable plate (4) and collet (3), the both ends of cylinder (2) are connected with two movable plates (4) respectively.
2. The automatic bagging robot of claim 1, wherein: the collet (3) includes arc (31) and mounting panel (32), mounting panel (32) are including installation department (321) and connecting portion (322), installation department (321) rotate with movable plate (4) and are connected, are connected with spring (7) between installation department (321) and the movable plate (4), connecting portion (322) are the arc structure, and connecting portion (322) are connected with arc (31) perpendicularly.
3. The automatic bagging robot of claim 2, wherein: one end of the arc-shaped plate (31) far away from the connecting part (322) is provided with a V-shaped notch (311).
4. The automatic bagging robot of claim 2, wherein: the utility model discloses a spacing post (41) matched with limiting groove (323) is provided with No. one with limiting groove (323) that the position inboard that lies in installation department (321) and connecting portion (322) junction on mounting panel (32), lies in the position outside of installation department (321) and connecting portion (322) junction on mounting panel (32) and is provided with No. two limiting groove (324) with No. two limiting post (42) matched with.
5. The automatic bagging robot of claim 2, wherein: the movable plate (4) is provided with an installation column (43), and the installation part (321) is sleeved on the installation column (43) through a bearing (8).
6. The automatic bagging robot of claim 2, wherein: the mounting part (321) is of a triangular structure.
7. The automatic bagging robot of any one of claims 1 to 6, wherein: and a sensor (9) is arranged on the moving plate (4) and positioned outside the collet (3).
8. The automatic bagging robot of any one of claims 1 to 6, wherein: the middle part of the sliding rail (6) is provided with a limiting block (10), and the two collet claws (3) are symmetrically arranged relative to the limiting block (10).
9. The automatic bagging robot of any one of claims 1 to 6, wherein: the fixed plate (1) is installed on the bottom plate (11), the two ends of the bottom plate (11) are connected with the baffle plates (12), and the fixed plate (1) is located between the two baffle plates (12).
10. The automatic bagging robot of claim 9, wherein: and a third limiting column (13) is arranged on the baffle (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121485819.3U CN215012114U (en) | 2021-07-01 | 2021-07-01 | Automatic bagging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121485819.3U CN215012114U (en) | 2021-07-01 | 2021-07-01 | Automatic bagging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215012114U true CN215012114U (en) | 2021-12-07 |
Family
ID=79226927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121485819.3U Expired - Fee Related CN215012114U (en) | 2021-07-01 | 2021-07-01 | Automatic bagging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215012114U (en) |
-
2021
- 2021-07-01 CN CN202121485819.3U patent/CN215012114U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211207 |