Feed handling and palletizing robot and method of using the same

Abstract

The present invention discloses a feed handling and stacking robot and a method of using the same, comprising a base and a stable seat installed at the bottom of the base, the top of the base is connected to a column, the bottom end of the column is fixedly connected to a cylindrical disk, and the cylindrical disk is rotatably connected to the top of the base through a bearing, a rotating motor is fixedly installed in the base, and the end of the output shaft of the rotating motor passes through the base and is fixedly connected to the column, a first linear module is arranged in the column, and the end of the slider of the first linear module is fixedly connected to a cross bar, and a second linear module is arranged in the cross bar. The feed handling and stacking robot can grasp the feed bag through a grasping mechanism, the anti-scratch mechanism can not only help the feed bag move up between the two clamping plates, but also prevent the feed bag from being scratched, and the setting of the auxiliary support mechanism can support the grasped feed bag to move after grasping the feed bag, thereby avoiding the situation where the feed bag falls due to loose feed inside the feed bag.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing equipment, in particular to a feed handling and palletizing robot and a use method thereof. Background Art

[0002] After the feed is produced, the packaged bagged feed needs to be stacked by a palletizing robot to facilitate the transportation of the centralized feed.

[0003] The existing feed handling and stacking robots are not easy to move, and usually need to be moved manually. The stacking robots are heavy, and the moving process is very time-consuming and labor-intensive. The existing feed handling and stacking robots generally grab the feed plate by controlling two clamps. In the process of grabbing the feed bag, the feed bag is easily scratched due to excessive clamping force. In the process of clamping and transporting the feed plate, the existing feed handling and stacking robots are prone to cause the feed bag to slip due to the loose feed in the feed plate. For this reason, we propose a feed handling and stacking robot and a method for using the same. Summary of the invention

[0004] The object of the present invention is to provide a feed handling and stacking robot and a method of using the same, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a feed handling and stacking robot, comprising a base and a stable seat installed at the bottom of the base, the top of the base is connected to a column, the bottom end of the column is fixedly connected to a cylindrical disk, and the cylindrical disk is rotatably connected to the top of the base through a bearing, a rotating motor is fixedly installed in the base, and the output shaft end of the rotating motor passes through the base and is fixedly connected to the column, a first linear module is arranged in the column, and the end of the slider of the first linear module is fixedly connected to a cross bar, a second linear module is arranged in the cross bar, and the end of the sliding platform of the second linear module is fixedly connected to a fixed frame, a grabbing mechanism for grabbing a feed bag is connected to the bottom of the fixed frame, an anti-scratch mechanism is arranged at the end of the grabbing mechanism, and an auxiliary support mechanism for auxiliary support of the grabbed feed bag is arranged on the outside of the grabbing mechanism.

[0006] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0007] Preferably, the anti-scratch mechanism includes an adjusting rod, a mounting plate, an adjusting cylinder, a slide seat and a rotating roller, the bottom end of the clamping plate is rotatably connected to the adjusting rod, the end of the adjusting rod is rotatably connected to the rotating roller, a driving motor is fixedly installed on one side of the end of the adjusting rod, the output shaft end of the driving motor is fixedly connected to the central axis of the rotating roller, the bottom end of the clamping plate is fixedly connected to the mounting plate, and the bottom end of the mounting plate is fixedly installed with an adjusting cylinder, the adjusting rod is located on one side of the mounting plate and is slidably connected to the slide seat, and the piston rod end of the adjusting cylinder passes through the mounting plate and is rotatably connected to the slide seat.

[0008] Preferably, the auxiliary support mechanism includes a rotating shaft, a U-shaped frame, a driven gear, a driving gear, a servo motor, a lifting cylinder and a support plate, the top ends of the two clamping plate side walls are rotatably connected to the rotating shaft, and the ends of the two rotating shafts are fixedly connected to the U-shaped frame.

[0009] Preferably, rolling grooves are symmetrically opened on the top of the stabilizing seat, four rollers are equidistantly installed on the bottom of the base, the rollers are rollingly connected in the rolling grooves, one end of the top of the stabilizing seat is integrally connected with an arc-shaped vertical plate, and the arc-shaped vertical plate and the base are fixedly connected by bolts.

[0010] Preferably, a stabilizing rod is provided between the arc-shaped vertical plates at the top of the stabilizing seat, and the stabilizing rod is connected to the outer side of the base, and both ends of the stabilizing rod are fixedly connected to the arc-shaped vertical plates by fixing bolts.

[0011] Preferably, a driven gear is fixedly connected to the outer side of the rotating shaft on the inner wall of one side of the U-shaped frame, a servo motor is fixedly installed on the side wall of the clamping plate, and a driving gear is fixedly connected to the output shaft end of the servo motor, and the driving gear and the driven gear are meshingly connected.

[0012] The method for using the feed handling and stacking robot according to any one of the above items comprises the following steps:

[0013] Step 1: Place the stable seat at the selected location for installing the robot, push the feed handling and stacking robot to move to the stable seat, and during the movement, the two rollers on both sides of the bottom of the base move into the rolling grooves accordingly, the base is connected to the top of the stable seat, and then the base and the stable seat are fixed by fixing bolts, and the two ends of the arc-shaped vertical plate at the top of the stable seat are connected by a stabilizing rod;

[0014] Step 2: The control system set in the device controls the rotation of the grabbing mechanism by controlling the rotation of the motor, controls the lifting of the grabbing mechanism by the first linear module, adjusts the horizontal position of the grabbing mechanism by the second linear module, controls the rotation of the grabbing mechanism by the rotary motor, locks it to the delivered feed bag, and enables the grabbing mechanism to move over a large range;

[0015] Step 3: When grabbing, control the clamping cylinder to work so that the two clamping plates clamp the feed bag, cooperate with the adjusting cylinder and the driving motor to work. The adjusting cylinder can control the end of the adjusting rod to be placed at the bottom of the feed bag, and the driving motor controls the rotation of the rotating roller to assist the feed plate to move up to a certain extent, so that the two clamping plates can smoothly grab the feed bag, and the end of the adjusting rod is facing the bottom of the feed bag to clamp the feed bag. Then control the servo motor to rotate the end of the U-shaped frame to the bottom of the feed bag, control the lifting cylinder to move the support plate up, and stably support the bottom of the feed bag, and then transfer the grabbed feed bag to the stacking area.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention greatly facilitates the movement of the feed handling and stacking robot by installing rollers at the bottom of the base. The stabilizing seat has a certain counterweight. When in use, the base can be directly pushed to the top of the stabilizing seat and then fixed by bolts. The installation is convenient and the stability of the feed handling and stacking robot is ensured.

[0018] 2. The present invention can control the rotation of the column by rotating the motor, so that the grabbing mechanism can move circumferentially. The lifting and lowering of the grabbing mechanism can be controlled by setting the first linear module. The horizontal position of the grabbing mechanism can be adjusted by setting the second linear module. Therefore, the grabbing mechanism can be accurately positioned at the feed bag to be grabbed through the set control system, which is more flexible to use.

[0019] 3. The present invention can grasp the feed bag through the grasping mechanism, and the anti-scratch mechanism can not only help the feed bag to move up between the two clamping plates, but also prevent the feed bag from being scratched, thereby improving the quality of feed handling and stacking.

[0020] 4. The auxiliary support mechanism of the present invention can provide mobile support for the grabbed feed bag after the feed bag is grabbed, thereby preventing the feed bag from falling due to loose feed inside the feed bag. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the internal structure of the base of the present invention;

[0023] Figure 3 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 4 It is a right view structural schematic diagram of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the grabbing mechanism of the present invention;

[0026] Figure 6 It is a schematic structural diagram of the enlarged view of point B of the present invention;

[0027] Figure 7 It is a schematic structural diagram of the enlarged view of point A of the present invention.

[0028] In the figure: 1. base; 2. column; 3. first linear module; 4. cross bar; 5. second linear module; 6. fixed frame; 7. grabbing mechanism; 8. auxiliary supporting mechanism; 9. rotating motor; 10. fixed plate; 11. support rod; 12. slide rod; 13. spring; 14. adjustment block; 15. clamping cylinder; 16. sliding groove; 17. clamping plate; 18. anti-scratch mechanism; 19. rotating shaft; 20. U-shaped frame; 21. driven gear; 22. driving gear; 23. servo motor; 24. adjustment rod; 25. mounting plate; 26. adjustment cylinder; 27. slide seat; 28. rotating roller; 29. ​​driving motor; 30. lifting cylinder; 31. support plate; 32. stabilizing seat; 33. rolling groove; 34. roller; 35. stabilizing rod; 36. rotating motor. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-7The present invention provides a technical solution: a feed handling and stacking robot, comprising a base 1 and a stabilizing seat 32 installed at the bottom of the base 1, the top of the base 1 is connected to a column 2, the bottom end of the column 2 is fixedly connected to a cylindrical disk, and the cylindrical disk is rotatably connected to the top of the base 1 through a bearing, a rotating motor 36 is fixedly installed in the base 1, and the output shaft end of the rotating motor 36 passes through the base 1 and is fixedly connected to the column 2.

[0031] It should be noted that the column 2 is rotated by controlling the rotary motor 36 to control the circumferential movement of the grabbing mechanism 7, so as to facilitate the grabbing of the transported feed bag.

[0032] A first linear module 3 is arranged in the column 2, and the end of the slider of the first linear module 3 is fixedly connected to a cross bar 4, a second linear module 5 is arranged in the cross bar 4, the end of the sliding platform of the second linear module 5 is fixedly connected to a fixed frame 6, a grabbing mechanism 7 for grabbing a feed bag is connected to the bottom of the fixed frame 6, an anti-scratch mechanism 18 is arranged at the end of the grabbing mechanism 7, and an auxiliary support mechanism 8 for auxiliary support of the grabbed feed bag is arranged outside the grabbing mechanism 7.

[0033] It should be noted that when the present invention is used, the stabilizing seat 32 is placed at the position where the robot is selected to be installed, and the feed handling and stacking robot is pushed to move to the stabilizing seat 32. During the movement, the two rollers 34 on both sides of the bottom of the base 1 are correspondingly moved into the rolling grooves 33, and the base 1 is connected to the top of the stabilizing seat 32. Then, the base 1 and the stabilizing seat 32 are fixed by fixing bolts, and the two ends of the arc-shaped vertical plate at the top of the stabilizing seat 32 are connected by stabilizing rods 35, so that the base 1 is firmly installed on the stabilizing seat 32. The control system provided by the device controls the operation of the rotating motor 36 to control the rotation of the grabbing mechanism 7, the lifting and lowering of the grabbing mechanism 7 can be controlled by the first linear module 3, and the horizontal position of the grabbing mechanism 7 can be adjusted by the second linear module 5. The rotation of the grabbing mechanism 7 can be controlled by the operation of the rotating motor 9 to lock it to the conveyed The feed bag is controlled so that the grabbing mechanism 7 can move over a large range. When grabbing, the clamping cylinder 15 is controlled to work so that the two clamping plates 17 clamp the feed bag, and the adjusting cylinder 26 and the driving motor 29 work. The adjusting cylinder 26 can control the end of the adjusting rod 24 to be placed at the bottom of the feed bag, and the driving motor 29 works to control the rotating roller 28 to rotate, and the auxiliary feed plate moves up to a certain extent, so that the two clamping plates 17 can smoothly grab the feed bag, and the end of the adjusting rod 24 is facing the bottom of the feed bag, so that the feed bag is clamped and fixed, and then the servo motor 23 is controlled to work to rotate the driving gear 22, and the meshing connection between the driving gear 22 and the driven gear 21 is used to rotate the end of the U-shaped frame 20 to the bottom of the feed bag, and the lifting cylinder 30 is controlled to work to move the support plate 31 upward to stably support the bottom of the feed bag, and then the grabbed feed bag is transferred to the stacking area.

[0034] The gripping mechanism 7 includes a support rod 11, an adjusting block 14, a clamping cylinder 15 and a clamping plate 17. The adjusting block 14 is symmetrically slidably connected inside the support rod 11. A horizontal sliding groove 16 is provided at the bottom of the support rod 11. The end of the adjusting block 14 passes through the sliding groove 16 and is integrally connected to the clamping plate 17. The corresponding two side walls of the support rod 11 are both equipped with clamping cylinders 15, and the piston rod end of the clamping cylinder 15 extends into the support rod 11 and is fixedly connected to the adjusting block 14.

[0035] It should be noted that the control system provided in the device controls the clamping cylinder 15 to work, which can control the sliding of the adjustment block 14 inside the support rod 11, and further control the sliding of the two clamping plates 17, and control the two clamping plates 17 to approach at the same time, so as to clamp the feed bag.

[0036] The top of the support rod 11 is symmetrically fixedly connected with a sliding rod 12, and the bottom of the fixing frame 6 is rotatably connected with a fixing plate 10. A rotating motor 9 is fixedly installed in the fixing frame 6, and the output shaft end of the rotating motor 9 is fixedly connected to the fixing plate 10. The top of the fixing plate 10 is symmetrically provided with sliding holes, and the two sliding rods 12 slide through the two sliding holes respectively. The outer side of the sliding rod 12 at one end of the top of the fixing plate 10 is threadedly connected with a nut, and the outer side of the sliding rod 12 is located between the support rod 11 and the fixing plate 10. A spring 13 is sleeved, and the two ends of the spring 13 are fixedly connected to the support rod 11 and the fixing plate 10 respectively.

[0037] It should be noted that the rotation of the fixed plate 10 can be controlled by the operation of the rotary motor 9, thereby driving the gripping mechanism 7 to rotate, so that the gripping mechanism 7 is located at a suitable position to clamp the feed bag.

[0038] The anti-scratch mechanism 18 includes an adjusting rod 24, a mounting plate 25, an adjusting cylinder 26, a slide 27 and a rotating roller 28. The bottom end of the clamping plate 17 is rotatably connected to the adjusting rod 24, and the end of the adjusting rod 24 is rotatably connected to the rotating roller 28. A driving motor 29 is fixedly installed on one side of the end of the adjusting rod 24, and the output shaft end of the driving motor 29 is fixedly connected to the central axis of the rotating roller 28. The bottom end of the clamping plate 17 is fixedly connected to the mounting plate 25, and the bottom end of the mounting plate 25 is fixedly installed with an adjusting cylinder 26. The adjusting rod 24 is located on one side of the mounting plate 25 and is slidably connected to the slide 27. The piston rod end of the adjusting cylinder 26 passes through the mounting plate 25 and is rotatably connected to the slide 27.

[0039] It should be noted that the anti-scratch mechanism 18 can not only help the feed bag to move up between the two clamping plates 17, but also prevent the feed bag from being scratched, thereby improving the quality of feed handling and stacking.

[0040] The auxiliary support mechanism 8 includes a rotating shaft 19, a U-shaped frame 20, a driven gear 21, a driving gear 22, a servo motor 23, a lifting cylinder 30 and a support plate 31. The top ends of the side walls of the two clamping plates 17 are rotatably connected to the rotating shaft 19, and the ends of the two rotating shafts 19 are fixedly connected to the U-shaped frame 20.

[0041] It should be noted that, through the rotation of the U-shaped frame 20 and the clamping plate 17, when the clamping plate 17 grabs the feed bag, the U-shaped frame 20 rotates to the top of the clamping plate 17. After the clamping is completed, the U-shaped frame 20 rotates to the bottom to support the grabbed feed bag.

[0042] The top of the stabilizing seat 32 is symmetrically provided with rolling grooves 33, and the bottom of the base 1 is equidistantly provided with four rollers 34, the rollers 34 are rollingly connected in the rolling grooves 33, one end of the top of the stabilizing seat 32 is integrally connected with an arc-shaped vertical plate, and the arc-shaped vertical plate and the base 1 are fixedly connected by bolts.

[0043] It should be noted that the connection between the feed handling and stacking robot and the stable seat 32 is convenient.

[0044] A stabilizing rod 35 is provided between the arc-shaped vertical plates at the top of the stabilizing seat 32 , and the stabilizing rod 35 is connected to the outer side of the base 1 , and both ends of the stabilizing rod 35 are fixedly connected to the arc-shaped vertical plates by fixing bolts.

[0045] It should be noted that the fixation between the base 1 and the stabilizing seat 32 can be strengthened.

[0046] A driven gear 21 is fixedly connected to the outer side of the rotating shaft 19 on the inner wall of one side of the U-shaped frame 20, a servo motor 23 is fixedly installed on the side wall of the clamping plate 17, and a driving gear 22 is fixedly connected to the output shaft end of the servo motor 23, and the driving gear 22 and the driven gear 21 are meshed and connected.

[0047] It should be noted that the driving gear 22 is rotated by controlling the servo motor 23 to rotate, and the rotating shaft 19 is rotated through the meshing connection between the driving gear 22 and the driven gear 21, thereby driving the U-shaped frame 20 to rotate, thereby adjusting the angle of the U-shaped frame 20.

[0048] The method for using the feed handling and stacking robot according to any one of the above items comprises the following steps:

[0049] Step 1: Place the stabilizing seat 32 at the position where the robot is to be installed, and push the feed handling and stacking robot to move to the stabilizing seat 32. During the movement, the two rollers 34 on both sides of the bottom of the base 1 move into the rolling grooves 33 accordingly. The base 1 is connected to the top of the stabilizing seat 32, and then the base 1 and the stabilizing seat 32 are fixed by fixing bolts. The two ends of the arc-shaped vertical plate at the top of the stabilizing seat 32 are connected by stabilizing rods 35.

[0050] Step 2: The control system set in the device controls the rotation of the rotary motor 36 to control the rotation of the grabbing mechanism 7, the first linear module 3 to control the lifting of the grabbing mechanism 7, the second linear module 5 to adjust the horizontal position of the grabbing mechanism 7, and the rotary motor 9 to control the rotation of the grabbing mechanism 7 and lock it to the delivered feed bag, so that the grabbing mechanism 7 can move over a large range;

[0051] Step three: When grabbing, control the clamping cylinder 15 to work so that the two clamping plates 17 clamp the feed bag, cooperate with the adjustment cylinder 26 and the drive motor 29 to work. The adjustment cylinder 26 can control the end of the adjustment rod 24 to be placed at the bottom of the feed bag. The drive motor 29 controls the rotation of the rotating roller 28 to assist the feed plate to move up to a certain extent, so that the two clamping plates 17 can smoothly grab the feed bag. The end of the adjustment rod 24 is facing the bottom of the feed bag to clamp the feed bag. Then control the servo motor 23 to work so that the end of the U-shaped frame 20 rotates to the bottom of the feed bag, control the lifting cylinder 30 to work, move the support plate 31 upward, and stably support the bottom of the feed bag, and then transfer the grabbed feed bag to the stacking area.

[0052] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0054] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A feed handling and palletizing robot, characterized in that: The invention comprises a base (1) and a stabilizing seat (32) installed at the bottom of the base (1); the top of the base (1) is connected to a column (2); the bottom end of the column (2) is fixedly connected to a cylindrical disk, and the cylindrical disk is rotatably connected to the top of the base (1) through a bearing; a rotating motor (36) is fixedly installed in the base (1), and the output shaft end of the rotating motor (36) passes through the base (1) and is fixedly connected to the column (2); a first linear module (3) is arranged in the column (2), and the end of the slider of the first linear module (3) is fixedly connected to a cross bar (4); a second linear module (5) is arranged in the cross bar (4); the end of the sliding platform of the second linear module (5) is fixedly connected to a fixed frame (6); the bottom of the fixed frame (6) is connected to a grabbing mechanism (7) for grabbing a feed bag; the end of the grabbing mechanism (7) is provided with an anti-scratch mechanism (18); the outside of the grabbing mechanism (7) is provided with an auxiliary support mechanism (8) for auxiliary support of the grabbed feed bag; The anti-scratch mechanism (18) comprises an adjusting rod (24), a mounting plate (25), an adjusting cylinder (26), a slide seat (27) and a rotating roller (28); the bottom end of the clamping plate (17) is rotatably connected to the adjusting rod (24); the end of the adjusting rod (24) is rotatably connected to the rotating roller (28); a driving motor (29) is fixedly mounted on one side of the end of the adjusting rod (24); the end of the output shaft of the driving motor (29) is fixedly connected to the central axis of the rotating roller (28); The gripping mechanism (7) comprises a support rod (11), an adjusting block (14), a clamping cylinder (15) and a clamping plate (17); the bottom end of the clamping plate (17) is fixedly connected to a mounting plate (25), and the bottom end of the mounting plate (25) is fixedly mounted with an adjusting cylinder (26); the adjusting rod (24) is slidably connected to a slide seat (27) at one side of the mounting plate (25); and the piston rod end of the adjusting cylinder (26) passes through the mounting plate (25) and is rotatably connected to the slide seat (27); The auxiliary support mechanism (8) comprises a rotating shaft (19), a U-shaped frame (20), a driven gear (21), a driving gear (22), a servo motor (23), a lifting cylinder (30) and a support plate (31); the top ends of the side walls of the two clamping plates (17) are rotatably connected to the rotating shaft (19), and the ends of the two rotating shafts (19) are fixedly connected to the U-shaped frame (20); The servo motor (23) is controlled to work so that the end of the U-shaped frame (20) rotates to below the feed bag, and the lifting cylinder (30) is controlled to work so that the support plate (31) moves upward to stably support the bottom of the feed bag, and then the captured feed bag is transferred to the stacking area.

2. The feed handling and palletizing robot according to claim 1, characterized in that: The support rod (11) is symmetrically and slidably connected with an adjustment block (14); a horizontal sliding groove (16) is provided at the bottom of the support rod (11); an end of the adjustment block (14) passes through the sliding groove (16) and is integrally connected with a clamping plate (17); a clamping cylinder (15) is installed on the corresponding side walls of the support rod (11); and the piston rod end of the clamping cylinder (15) extends into the support rod (11) and is fixedly connected to the adjustment block (14); a sliding rod (12) is symmetrically and fixedly connected to the top of the support rod (11); and a fixing plate is rotatably connected to the bottom of the fixing frame (6). (10), a rotating motor (9) is fixedly installed in the fixing frame (6), and the output shaft end of the rotating motor (9) is fixedly connected to the fixing plate (10), the top of the fixing plate (10) is symmetrically provided with sliding holes, and the two sliding rods (12) slide through the two sliding holes respectively, and the outer side of the sliding rod (12) at one end of the top of the fixing plate (10) is threadedly connected with a nut, and the outer side of the sliding rod (12) is located between the support rod (11) and the fixing plate (10) and a spring (13) is sleeved, and the two ends of the spring (13) are respectively fixedly connected to the support rod (11) and the fixing plate (10).

3. The feed handling and palletizing robot according to claim 1, characterized in that: The top of the stabilizing seat (32) is symmetrically provided with rolling grooves (33), the bottom of the base (1) is equidistantly provided with four rollers (34), the rollers (34) are rollingly connected in the rolling grooves (33), one end of the top of the stabilizing seat (32) is integrally connected with an arc-shaped vertical plate, and the arc-shaped vertical plate is fixedly connected to the base (1) by bolts.

4. The feed handling and palletizing robot according to claim 3, characterized in that: A stabilizing rod (35) is provided between the arc-shaped vertical plates at the top of the stabilizing seat (32), and the stabilizing rod (35) is connected to the outside of the base (1) in a coordinated manner, and both ends of the stabilizing rod (35) are fixedly connected to the arc-shaped vertical plates by fixing bolts.

5. The feed handling and palletizing robot according to claim 4, characterized in that: A driven gear (21) is fixedly connected to the outside of the rotating shaft (19) on the inner wall of one side of the U-shaped frame (20), a servo motor (23) is fixedly installed on the side wall of the clamping plate (17), and a driving gear (22) is fixedly connected to the end of the output shaft of the servo motor (23), and the driving gear (22) and the driven gear (21) are meshingly connected.

6. The method for using the feed handling and stacking robot according to any one of claims 1 to 5, characterized in that: The steps include: Step 1: Place the stabilizing seat (32) at the position where the robot is to be installed, and push the feed handling and stacking robot to move to the stabilizing seat (32). During the movement, the two rollers (34) on both sides of the bottom of the base (1) are moved into the rolling grooves (33) accordingly. The base (1) is connected to the top of the stabilizing seat (32), and then the base (1) and the stabilizing seat (32) are fixed by fixing bolts. The two ends of the arc-shaped vertical plate at the top of the stabilizing seat (32) are connected by a stabilizing rod (35); Step 2: The control system provided in the device controls the rotation of the rotary motor (36) to control the rotation of the grabbing mechanism (7), controls the lifting and lowering of the grabbing mechanism (7) through the first linear module (3), adjusts the horizontal position of the grabbing mechanism (7) through the second linear module (5), controls the rotation of the grabbing mechanism (7) through the rotary motor (9), locks the grabbing mechanism (7) to the delivered feed bag, and enables the grabbing mechanism (7) to move over a large range; Step 3: When grabbing, the clamping cylinder (15) is controlled to work so that the two clamping plates (17) clamp the feed bag, and the adjusting cylinder (26) and the driving motor (29) work together. The adjusting cylinder (26) can control the end of the adjusting rod (24) to be placed at the bottom of the feed bag. The driving motor (29) controls the rotating roller (28) to rotate, and the auxiliary feed plate moves up to a certain extent, so that the two clamping plates (17) can smoothly grab the feed bag. The end of the adjusting rod (24) faces the bottom of the feed bag, so that the feed bag is clamped and fixed. Then, the servo motor (23) is controlled to work so that the end of the U-shaped frame (20) rotates to the bottom of the feed bag. The lifting cylinder (30) is controlled to work so that the support plate (31) moves up to stably support the bottom of the feed bag, and then the grabbed feed bag is transferred to the stacking area.

Images