Corn tabletting and stacking robot

Abstract

The invention relates to the technical field of transportation equipment, and discloses a corn tabletting and stacking robot which comprises a mounting base and a mechanical arm, the mechanical arm is fixedly connected to the upper surface of the mounting base, a connecting block is fixedly connected to the end, away from the mounting base, of the mechanical arm, and a connecting plate is fixedly connected to the lower portion of the connecting block; a clamping induction device is arranged on the lower portion of the connecting plate, and a driving motor is fixedly connected to the lower portion of the connecting block. Through the arrangement of the clamping jaw, the pressure sensor, the blocking plate and the pressing block, pressure can be transmitted to the pressure sensor through contact between the pressing block and the corn tabletting tray in the clamping process, so that an operator can recognize the current position state of the corn tabletting tray through sensing parameters of the pressure sensor, and the working efficiency of the operator is improved. Therefore, the clamping force of the clamping jaw is adjusted, damage to the tray caused by too large clamping force is avoided, and the stability in the transferring and stacking process is improved.

Description

Technical Field

[0001] The invention relates to the technical field of transportation equipment, and in particular to a corn flake stacking robot. Background Art

[0002] Corn flakes are a product made from processed corn. The production process mainly involves cleaning, peeling, and humidifying the corn, then performing steam heat processing to gelatinize the corn starch, and finally using special flaking equipment to extrude the corn into flakes. Corn flakes have many advantages. From a nutritional point of view, it improves the nutritional properties of corn and is more conducive to animal digestion and absorption. For example, it can increase the digestibility of starch in dairy cows. It is widely used in the feed industry and can be used as a high-quality energy feed raw material for livestock breeding, such as pigs, cattle, sheep, etc. It also has a uniform texture and good palatability, which can increase the animal's feed intake, thereby helping to improve the animal's production performance to a certain extent. In the existing processing technology, after the corn flakes are prepared, they are often required to be stacked and transported using corresponding transfer equipment, so that they can be conveniently loaded and unloaded as a whole onto a transport vehicle using equipment such as forklifts, thereby improving loading and unloading efficiency.

[0003] However, in actual use, since the operation of the gripper is often controlled by a motor, it can only move within the stroke setting range of the motor program. Therefore, when the pallet storing the corn flakes is offset, the stability of the corn flakes during transportation cannot be guaranteed by a single mechanical movement process, and there is a risk of the gripper damaging the pallet. In view of this, we propose a corn flake stacking robot. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a corn flake stacking robot, which solves the problem that the existing grippers can only move within the stroke setting range of the motor program and cannot adapt to the high-precision transfer and stacking process.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a corn flake stacking robot, comprising a mounting seat and a mechanical arm, the upper surface of the mounting seat is fixedly connected to the mechanical arm, the end of the mechanical arm away from the mounting seat is fixedly connected to a connecting block, the lower part of the connecting block is fixedly connected to a connecting plate, the lower part of the connecting plate is provided with a clamping sensing device, the lower part of the connecting block is fixedly connected to a driving motor, the lower surface of the connecting plate is fixedly connected to a clamping motor, the interior of the connecting plate is provided with a pneumatic stabilization device, and the outer side of the clamping sensing device is provided with a clamping jaw replacement device; The clamping sensing device comprises a clamping jaw, an inner piston of the clamping jaw is connected to a pressure block, one end of the pressure block extending into the interior of the clamping jaw is fixedly connected to a blocking plate, and one end of the pressure block close to the blocking plate is fixedly connected to a pressure sensor.

[0006] Preferably, the jaw replacement device includes a fixing rib, the inner surface of the fixing rib is slidably connected to a sleeve, the inner surface of the sleeve is slidably connected to an adjustment button, the inner surface of the sleeve is slidably connected to an extrusion plate, the outer side of the extrusion plate is fixedly connected to a linkage block, and the end of the linkage block away from the extrusion plate is fixedly connected to a magnetic block.

[0007] Preferably, the pneumatic stabilization device includes a special component, a valve is fixedly connected to the inner arc surface of the special component, a threaded rod is threadedly connected to the lower end of the special component, a top block is fixedly connected to the upper surface of the threaded rod, a bellows is fixedly connected to the lower end of the threaded rod, a suction cup is fixedly connected to the lower end of the bellows, and an electromagnetic valve is fixedly connected to the upper surface of the connecting plate.

[0008] Preferably, a connecting groove is provided at the center of the inner surface of the connecting plate, through holes are provided at the front and rear ends of the connecting plate, and two groups of clamping motors are provided, and the two groups of clamping motors are symmetrically distributed with the center line of the connecting plate as the symmetry axis.

[0009] Preferably, a rectangular slide groove is provided on the right side of the clamp, two groups of cylindrical connecting grooves are provided on the left side of the clamp, a rectangular groove is provided inside the clamp, the end of the blocking plate away from the pressure block is fixedly connected to the clamp by a spring, the pressure sensor itself is of retractable design, the clamp is provided with multiple groups, and the multiple groups of clamp arrays are distributed at the lower part of the connecting plate.

[0010] Preferably, the upper portion of the fixing rib is fixedly connected to the output shaft of the clamp motor via a connecting arm, a plurality of through holes are provided on the inner surface of the fixing rib, and a through hole is provided at one end of the sleeve close to the fixing rib.

[0011] Preferably, a rectangular slide groove is provided on the outer arc surface of the sleeve, a truncated cone-shaped groove is provided inside the adjusting button, the inner wall of the adjusting button is in contact with the extrusion plate, and the end of the extrusion plate close to the adjusting button is set as an arc surface. There are two groups of extrusion plates, and the two groups of extrusion plates are symmetrically distributed with the center line of the sleeve as the symmetry axis.

[0012] Preferably, the two groups of extrusion plates are elastically connected via a spring, the outer surface of the linkage block is slidably connected to the sleeve, and the outer surface of the magnetic block is arranged to be arc-shaped.

[0013] Preferably, the front and rear ends of the different component are provided with through holes, the lower part of the different component is provided with a through hole, the lower part of the different component is provided with a thread, the valves are provided in multiple groups, and the combined area of ​​the multiple groups of valves is the same as the inner diameter of the different component, and the interior of the threaded rod is hollow.

[0014] Preferably, the top block is configured to be truncated cone-shaped and a through hole is provided at the center of the inner surface, the suction cup is connected to the upper bellows and the threaded rod, the front and rear ends of the solenoid valve are connected to the connecting plate through a hose, and a threaded groove hole is provided on the lower surface of the connecting plate.

[0015] Working principle: When using this device, it is necessary to control the corn flake tray directly under the connecting plate in advance through program control. At this time, the clamping jaws can be controlled to move closer or open through the clamping jaw motor, and in the process of clamping the tray, the compression between the tray and the pressing block enables the pressing block to drive the blocking plate to move inside the clamping jaw. At this time, the spring will buffer the impact force generated during clamping, and the pressure sensor will also be squeezed to generate a clamping pressure value. When the clamping pressure value reaches the set range, it can be determined that the clamping is completed. At this time, the robotic arm will drive the tray with corn flakes for transfer and stacking. When there is a large difference in the clamping pressure displayed by the front and rear multiple groups of pressure sensors, it is determined that there is an abnormality in the clamping process. At this time, the equipment will transmit the abnormal signal to the central control platform for abnormal feedback, and the equipment will be shut down to avoid further damage to the tray or cause the corn flakes to fall. In addition, when the pressure sensor has no value during the clamping process, it is determined that it is currently in an unsuccessful clamping state, and the program controls the clamping jaw motor to reverse, so that the clamping jaw releases the tray, thereby avoiding clamping failure due to abnormalities in the clamping process.

[0016] At the same time, in order to further improve the stability during the transfer and palletizing process, the pneumatic stabilization device in the present invention can control the air pressure change inside the bellows through the electromagnetic valve, and then adjust the adsorption force between the suction cup and the pallet, so that the pallet always maintains a stable state during the transfer process. When the pallet needs to be put down, the clamping jaw motor first controls the opening of the clamping jaw, and the electromagnetic valve adjusts the air pressure again, so that the adsorption force between the suction cup and the pallet is reduced, thereby achieving the stable placement of the pallet.

[0017] During the use of the clamp, when the clamp is damaged, the adjustment button can be pressed so that the extrusion plates on both sides can be squeezed and brought closer to each other. At this time, the magnetic block will be separated from the adsorption between the inner wall of the clamp and retracted to the outer wall of the sleeve. At this time, the sleeve can be pulled outward, and the clamp can be pulled out synchronously to take it out, and replaced and maintained. At the same time, during the installation of the clamp, the clamp can be placed close to the fixed rib while keeping the sleeve pulled outward, and then the sleeve can be pushed to the specified position to release the adjustment button. At this time, due to the elastic force of the spring, the two sets of extrusion plates will move in opposite directions, and the magnetic block will be extended to adsorb each other with the clamp, and the position of the clamp is limited by the clamping of the magnetic block, so that the device can conveniently replace and maintain the clamp.

[0018] The present invention provides a corn flake stacking robot, which has the following beneficial effects: 1. The present invention provides the clamping jaws, pressure sensors, blocking plates and pressing blocks, which can transmit the pressure to the pressure sensor through the contact between the pressing block and the corn flake tray during the clamping process, so that the operator can identify the current position state of the corn flake tray through the sensing parameters of the pressure sensor, and adjust the clamping force of the clamping jaws to avoid damage to the pallet due to excessive clamping force, thereby improving the stability of the transfer and stacking process.

[0019] 2. The present invention provides a jaw replacement device, which utilizes the cooperation among the sleeve, the adjustment button, the extrusion plate, the linkage block and the magnetic block to facilitate the replacement of the jaws, thereby improving the application scope of the palletizing robot, enabling it to quickly replace jaws of different sizes when clamping different pallets, and is suitable for corn flake pallets of different sizes and weights. At the same time, the jaws can also be quickly replaced when damaged, thereby enhancing its practicality.

[0020] 3. The present invention, through the solenoid valve, top block, threaded rod, bellows, suction cup, valve, and special component, can control the adsorption force between the suction cup and the tray through the solenoid valve during the clamping process, and assist the clamping claws to transport the tray, further improving the clamping stability of the clamping claws on the tray, avoiding the corn flakes from falling due to the large vibration generated when the clamps clamp or put down the tray during transportation, thereby improving the stability of the corn flakes during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A perspective view of the present invention; Figure 2 It is a schematic diagram of the connection plate of the present invention; Figure 3 It is a schematic diagram of the internal cross-section of the clamping jaw of the present invention; Figure 4 It is a schematic diagram of the external part of the clamping jaw of the present invention; Figure 5 It is a schematic diagram of the cross section of the sleeve of the present invention; Figure 6 It is a schematic diagram of the cross section of the connecting plate of the present invention; Figure 7 It is a schematic diagram of the bellows of the present invention; Figure 8 It is a schematic diagram of the cross section of the different components of the present invention.

[0022] Among them, 1. mounting base; 2. clamping sensing device; 3. jaw replacement device; 4. pneumatic stabilization device; 5. robotic arm; 6. connecting plate; 7. jaw motor; 8. connecting block; 9. driving motor; 201. jaw; 202. pressure sensor; 203. blocking plate; 204. pressure block; 301. fixing rib; 302. sleeve; 303. adjustment button; 304. extrusion plate; 305. magnetic block; 306. linkage block; 401. solenoid valve; 402. top block; 403. threaded rod; 404. bellows; 405. suction cup; 406. valve; 407. different components. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the specification 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.

[0024] Example: Please see attached Figure 1 - Attachment Figure 3 The embodiment of the present invention provides a corn flake stacking robot, comprising a mounting seat 1 and a mechanical arm 5. The upper surface of the mounting seat 1 is fixedly connected with the mechanical arm 5, and one end of the mechanical arm 5 away from the mounting seat 1 is fixedly connected with a connecting block 8, and the lower part of the connecting block 8 is fixedly connected with a connecting plate 6, and the lower part of the connecting plate 6 is provided with a clamping sensing device 2, and the lower part of the connecting block 8 is fixedly connected with a driving motor 9, and the lower surface of the connecting plate 6 is fixedly connected with a clamping claw motor 7, and the inside of the connecting plate 6 is provided with a pneumatic stabilization device 4, and the outer side of the clamping claw replacement device 3 is provided; The clamping sensing device 2 includes a clamping jaw 201 , the inner piston of the clamping jaw 201 is connected to a pressure block 204 , one end of the pressure block 204 extending into the inside of the clamping jaw 201 is fixedly connected to a blocking plate 203 , and one end of the pressure block 204 close to the blocking plate 203 is fixedly connected to a pressure sensor 202 .

[0025] A connecting groove is provided at the center of the inner surface of the connecting plate 6, so that the output shaft of the driving motor 9 can drive the connecting plate 6 to produce a certain angle of deflection. Through holes are provided at the front and rear ends of the connecting plate 6. Two groups of clamping motors 7 are provided, and the two groups of clamping motors 7 are symmetrically distributed with the center line of the connecting plate 6 as the symmetry axis, so the rotation angle of the clamping jaws 201 on both sides can be controlled respectively. A rectangular sliding groove is provided on the right side of the clamping jaw 201, and two groups of cylindrical connecting grooves are provided on the left side of the clamping jaw 201, so that it can accommodate the insertion of the sleeve 302. A rectangular groove is provided inside the clamping jaw 201, so that it can accommodate the blocking plate 203 sliding inside it. The end of the blocking plate 203 away from the pressure block 204 is fixedly connected to the clamping jaw 201 by a spring. The pressure sensor 202 itself is a retractable design, so it can produce deformation and detect the pressure change value during the extrusion process. Multiple groups of clamping jaws 201 are provided, and multiple groups of clamping jaws 201 are arrayed and distributed at the lower part of the connecting plate 6.

[0026] Please see attached Figure 1 , Attachment Figure 4 And attached Figure 5 The jaw replacement device 3 includes a fixing rib 301, the inner surface of the fixing rib 301 is slidably connected with a sleeve 302, the inner surface of the sleeve 302 is slidably connected with an adjustment button 303, the inner surface of the sleeve 302 is slidably connected with an extrusion plate 304, the outer side of the extrusion plate 304 is fixedly connected with a linkage block 306, and the end of the linkage block 306 away from the extrusion plate 304 is fixedly connected with a magnetic block 305.

[0027] The upper part of the fixed rib 301 is fixedly connected to the output shaft of the clamping motor 7 through a connecting arm. The inner surface of the fixed rib 301 is provided with multiple groups of through holes, so that the sleeve 302 can slide inside it. The sleeve 302 is provided with a through hole at one end close to the fixed rib 301. A rectangular slide groove is provided at the outer arc surface of the sleeve 302, so that the linkage block 306 can slide inside it. A truncated cone-shaped groove is provided inside the adjusting button 303, so that after the adjusting button 303 is pressed, the squeezing plates 304 on both sides can be synchronously moved closer to each other, and the inner wall of the adjusting button 303 contacts the squeezing plate 304. The end of the squeezing plate 304 close to the adjusting button 303 is set to an arc surface, so that the two are connected. When touched, plastic deformation is not easy to occur. Two groups of extrusion plates 304 are arranged, and the two groups of extrusion plates 304 are symmetrically distributed with the center line of the sleeve 302 as the symmetry axis. The two groups of extrusion plates 304 are elastically connected by springs. Therefore, after releasing the adjustment button 303, the extrusion plates 304 and the adjustment button 303 on both sides can be reset by the elastic force of the spring. The outer surface of the linkage block 306 is slidably connected to the sleeve 302, and the outer surface of the magnetic block 305 is arranged to be arc-shaped, so that when it is extended, it can be close to the cylindrical groove inside the clamp 201. At the same time, the cylindrical groove inside the clamp 201 is made of magnetic metal material, so it can synchronously generate magnetic adsorption with the magnetic block 305 to further maintain the stability of the clamp 201.

[0028] Please see attached Figure 6 - Attachment Figure 8 The pneumatic stabilization device 4 includes a special component 407, a valve 406 is fixedly connected to the inner arc surface of the special component 407, a threaded rod 403 is threadedly connected to the lower end of the special component 407, a top block 402 is fixedly connected to the upper surface of the threaded rod 403, a bellows 404 is fixedly connected to the lower end of the threaded rod 403, a suction cup 405 is fixedly connected to the lower end of the bellows 404, and a solenoid valve 401 is fixedly connected to the upper surface of the connecting plate 6.

[0029] Through holes are provided at the front and rear ends of the different component 407, so that high-pressure gas can be accommodated to enter. A through hole is provided at the lower part of the different component 407, and a thread is provided at the lower part of the different component 407, so that the threaded rod 403 can be installed at the lower part of the different component 407 by twisting. The valve 406 is provided in multiple groups, and the combined area of ​​the multiple groups of valves 406 is the same as the inner diameter of the different component 407. Therefore, when the components at the suction cup 405 are not installed, the internal area of ​​the connecting plate 6 can remain sealed to prevent external dust from entering and affecting the subsequent use of the pneumatic stabilizer 4. The interior of the threaded rod 403 is in the middle. The top block 402 is configured to be truncated cone-shaped and a through hole is provided at the center of the inner surface. The suction cup 405 is connected to the upper bellows 404 and the threaded rod 403, so that the negative pressure suction force generated at the solenoid valve 401 can be transmitted to the suction cup 405 through the hose, the connecting plate 6, the special component 407, the top block 402, the threaded rod 403, and the bellows 404. The front and rear ends of the solenoid valve 401 are connected to the connecting plate 6 through a hose, and the lower surface of the connecting plate 6 is provided with a threaded groove hole, so that the threaded rod 403 can be threadedly connected with the connecting plate 6 and the special component 407 in sequence during the twisting process.

[0030] 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 corn flake stacking robot, comprising a mounting base (1) and a robotic arm (5), characterized in that: The upper surface of the mounting seat (1) is fixedly connected to a mechanical arm (5), one end of the mechanical arm (5) away from the mounting seat (1) is fixedly connected to a connecting block (8), the lower part of the connecting block (8) is fixedly connected to a connecting plate (6), the lower part of the connecting plate (6) is provided with a clamping sensing device (2), the lower part of the connecting block (8) is fixedly connected to a driving motor (9), the lower surface of the connecting plate (6) is fixedly connected to a clamping motor (7), the interior of the connecting plate (6) is provided with a pneumatic stabilization device (4), and the outer side of the clamping sensing device (2) is provided with a clamping jaw replacement device (3); The clamping sensing device (2) comprises a clamping jaw (201), an inner piston of the clamping jaw (201) is connected to a pressure block (204), one end of the pressure block (204) extending into the interior of the clamping jaw (201) is fixedly connected to a blocking plate (203), and one end of the pressure block (204) close to the blocking plate (203) is fixedly connected to a pressure sensor (202).

2. A corn flake stacking robot according to claim 1, characterized in that: The clamping jaw replacement device (3) comprises a fixing rib (301), the inner surface of the fixing rib (301) is slidably connected to a sleeve (302), the inner surface of the sleeve (302) is slidably connected to an adjustment button (303), the inner surface of the sleeve (302) is slidably connected to an extrusion plate (304), the outer side of the extrusion plate (304) is fixedly connected to a linkage block (306), and one end of the linkage block (306) away from the extrusion plate (304) is fixedly connected to a magnetic block (305).

3. The corn flake stacking robot according to claim 1, characterized in that: The pneumatic stabilization device (4) comprises a different component (407), a valve (406) is fixedly connected to the inner arc surface of the different component (407), a threaded rod (403) is threadedly connected to the lower end of the different component (407), a top block (402) is fixedly connected to the upper surface of the threaded rod (403), a bellows (404) is fixedly connected to the lower end of the threaded rod (403), a suction cup (405) is fixedly connected to the lower end of the bellows (404), and a solenoid valve (401) is fixedly connected to the upper surface of the connecting plate (6).

4. The corn flake stacking robot according to claim 1, characterized in that: A connecting groove is provided at the center of the inner surface of the connecting plate (6), and through holes are provided at the front and rear ends of the connecting plate (6). Two groups of the clamping motors (7) are provided, and the two groups of the clamping motors (7) are symmetrically distributed with the center line of the connecting plate (6) as the symmetry axis.

5. The corn flake stacking robot according to claim 1, characterized in that: A rectangular slide groove is provided on the right side of the clamping jaw (201), two groups of cylindrical connection grooves are provided on the left side of the clamping jaw (201), a rectangular groove is provided inside the clamping jaw (201), one end of the blocking plate (203) away from the pressure block (204) is fixedly connected to the clamping jaw (201) via a spring, the pressure sensor (202) itself is of a retractable design, a plurality of groups of the clamping jaws (201) are provided, and the plurality of groups of the clamping jaws (201) are arrayed and distributed at the lower part of the connecting plate (6).

6. The corn flake stacking robot according to claim 2, characterized in that: The upper portion of the fixing rib (301) is fixedly connected to the output shaft of the clamping jaw motor (7) via a connecting arm, the inner surface of the fixing rib (301) is provided with a plurality of groups of through holes, and the sleeve (302) is provided with a through hole at one end close to the fixing rib (301).

7. The corn flake stacking robot according to claim 2, characterized in that: A rectangular sliding groove is provided on the outer arc surface of the sleeve (302), a truncated cone-shaped groove is provided inside the adjusting button (303), an inner wall of the adjusting button (303) is in contact with a pressing plate (304), one end of the pressing plate (304) close to the adjusting button (303) is provided with a curved surface, two groups of pressing plates (304) are provided, and the two groups of pressing plates (304) are symmetrically distributed with the center line of the sleeve (302) as a symmetry axis.

8. The corn flake stacking robot according to claim 2, characterized in that: The two groups of extrusion plates (304) are elastically connected via a spring, the outer surface of the linkage block (306) is slidably connected to the sleeve (302), and the outer surface of the magnetic block (305) is arranged to be arc-shaped.

9. The corn flake stacking robot according to claim 3, characterized in that: Through holes are provided at the front and rear ends of the different component (407), a through hole is provided at the lower part of the different component (407), a thread is provided at the lower part of the different component (407), the valves (406) are provided in multiple groups, and the combined area of ​​the multiple groups of valves (406) has the same inner diameter as the different component (407), and the threaded rod (403) is hollow inside.

10. The corn flake stacking robot according to claim 3, characterized in that: The top block (402) is configured to be truncated cone-shaped and has a through hole at the center of its inner surface. The suction cup (405) is connected to the upper bellows (404) and the threaded rod (403). The front and rear ends of the solenoid valve (401) are connected to the connecting plate (6) via a hose. The lower surface of the connecting plate (6) is provided with a threaded slot.

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