Wrist rotating device for bale loading and unloading manipulator

Abstract

The invention discloses a wrist rotating device for a bale loading and unloading manipulator. The device comprises a boom, an outer boom sleeve, a wrist connecting sleeve, an outer boom sleeve supporting oil cylinder and a wrist connecting sleeve rotating mechanism, wherein the outer boom sleeve sleeves the middle part of the boom and axially penetrates through the outer boom sleeve supporting oil cylinder; the lower end of the outer boom sleeve is hinged to the upper end of the wrist connecting sleeve; the wrist connecting sleeve rotating mechanism is arranged in the wrist connecting sleeve and comprises spiral grooves, a pair of positioning steel balls and a pair of steel ball positioning screws; the spiral grooves are formed in the circumferential surface of the lower end of the boom; the lower end of the boom penetrates through a central shaft hole of the wrist connecting sleeve; the steel ball positioning screws are screwed into the upper end of the wrist connecting sleeve respectively; a half of each positioning steel ball is embedded into the corresponding spiral groove, and the rest of each positioning steel ball is embedded into the inner end of a corresponding radial thread hole. The wrist rotating device for the bale loading and unloading manipulator is compact in structure and convenient to use; by exerting only a small axial force on the outer boom sleeve, the wrist connecting sleeve can rotate within a range of minus 360 degrees to 360 degrees, so that the dead rotating angle is eliminated, the using requirements of the bale loading and unloading manipulator are completely met, and the operation efficiency is improved.

Description

Technical field [0001] The invention relates to a special manipulator, in particular to a special manipulator wrist rotating device used for grabbing a bale for loading and unloading, belonging to the technical field of manipulators. Background technique [0002] The bale baler is a special machine used for the mechanized operation of forage or crop straw baling. It can complete the operations of picking, feeding, baling, wrapping, and unloading at one time. It has high work efficiency and application scope. Wide and convenient maintenance. After the bale baler completes the baling operation, the bales are scattered in the pasture or farmland and need to be transported by vehicles; when they reach the destination, they need to be unloaded and stacked. The weight of the straw bale is very heavy. If it is handled manually, the labor intensity of the workers is very high, the work efficiency is low, and there are hidden safety risks. Therefore, a straw bale loading and unloadi...

AI Technical Summary

Problems solved by technology

The existing bale loading and unloading manipulator wrist rotation device adopts a crank mechanism, which has a huge structure, and the rotation range is only about 90°. There is a turning dead angle, which is inconvenient to use and difficult to maintain, which affects work efficiency.

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