Stacking device for compound fertilizer

Abstract

The invention provides a stacking device for compound fertilizer, and relates to the technical field of fertilizer transfer, the stacking device comprises a mechanical arm and a clamping arm, the clamping arm is driven by a driving part, a mounting frame is mounted on the mechanical arm, a lifting frame is slidably arranged on the mounting frame, and the lifting frame is driven by a linear driver I; an adjusting plate and a pressing plate are arranged on the lower portion of the lifting frame, an inverted-T-shaped transverse sliding groove is formed in the adjusting plate, a first sliding plate is installed on the lifting frame, an inverted-T-shaped longitudinal sliding groove is formed in the pressing plate, and a second sliding plate is installed on the adjusting plate. A transverse adjusting roller is arranged on the mounting frame in a sliding manner and is driven by a driving assembly; a longitudinal adjusting roller is slidably arranged on the portion, close to the clamping arm, of the mounting frame. The pressing plate can extrude the upper end face of a compound fertilizer, the longitudinal adjusting roller enables the compound fertilizer to be longitudinally centered, the transverse adjusting roller enables the compound fertilizer to be transversely centered, the position of the compound fertilizer on the clamping jaw can be fixed, and therefore the compound fertilizer can be stacked in order.

Description

Technical Field

[0001] The invention relates to the technical field of fertilizer transportation, and in particular to a compound fertilizer stacking device. Background Art

[0002] Compound fertilizer refers to a fertilizer containing two or more nutrients of nitrogen, phosphorus and potassium. Granular compound fertilizer is one of the common forms, usually made by granulation process. After the production of granular compound fertilizer is completed, it is generally necessary to package it in bags and stack it in a centralized storage area for easy transportation and use. In the compound fertilizer production workshop, bagged compound fertilizer is generally transported by conveying devices, and then the compound fertilizer is transferred using a handling robot and stacked into piles.

[0003] For example, the patent document with the announcement number CN114955529B discloses a high-efficiency palletizing robot clamp. The palletizing robot clamp includes an electric push rod, a clamping arm 1 and a clamping arm 2 driven by the electric push rod, a synchronous shaft runs through the clamping arm 1 and the clamping arm, and two clamping arms 1 and 2 are arranged opposite to each other. The electric push rod drives the clamping arm 1, the synchronous shaft and the clamping arm 2 to rotate synchronously in turn, so as to clamp the bagged fertilizer.

[0004] The above-mentioned palletizing robot clamp clamps the bagged fertilizer through clamping arm 1 and clamping arm 2, which reduces the burden of manual handling. Since the bagged compound fertilizer is prone to tilt or offset when it is transported to the position to be grasped by the manipulator via the conveyor roller, the rest position of the bagged compound fertilizer changes relative to the grasping position set by the manipulator, while the position where the manipulator clamps the bagged compound fertilizer remains unchanged. After clamping, the manipulator transfers according to a specific stroke, which will cause the bagged compound fertilizer tilted on the conveyor belt to remain in a tilted state after falling from the manipulator, resulting in uneven stacking and affecting the stability of the stacking. Therefore, it is necessary to develop a palletizing device for compound fertilizers to solve the technical problem of uneven stacking caused by the tilting of bagged compound fertilizers when they are transported to the position to be grasped by the manipulator. Summary of the invention

[0005] In view of this, the present invention provides a compound fertilizer stacking device to solve the technical problem in the prior art that bagged compound fertilizers are tilted when being transported to a position to be grasped by a robot arm, resulting in uneven stacking.

[0006] In order to solve the above technical problems, the present invention provides a compound fertilizer stacking device, comprising a mechanical arm and two clamping arms arranged on the mechanical arm, the clamping arms are connected with L-shaped clamping claws, the clamping arms are driven by a driving member, a mounting frame is installed at the end of the mechanical arm, a lifting frame is slidably provided on the mounting frame, and the lifting frame is driven by a linear drive 1; An adjustment plate and a pressure plate are provided below the lifting frame, an inverted T-shaped transverse slide groove is provided on the adjustment plate, a slide plate 1 which is slidably matched with the transverse slide groove is installed on the lifting frame, an inverted T-shaped longitudinal slide groove is provided on the pressure plate, and a slide plate 2 which is slidably matched with the longitudinal slide groove is installed on the adjustment plate; Both ends of the lower part of the mounting frame are slidably provided with transverse adjustment rollers, and the sliding of the transverse adjustment rollers is driven by a driving assembly; both sides of the mounting frame and the parts close to the clamping arms are slidably provided with longitudinal adjustment rollers.

[0007] By adopting the above technical solution, when the bagged compound fertilizer is conveyed to one side of the mechanical arm by the conveyor belt, the linear drive 1 drives the lifting frame to move downward, and the lifting frame drives the adjustment plate and the pressure plate to move downward synchronously until the pressure plate abuts against the upper end surface of the compound fertilizer and squeezes the compound fertilizer. Then, the linear drive 1 drives the lifting frame to move upward for a distance, and the driving member drives the two clamping arms to approach each other, and the clamping claws on the clamping arms abut against the lower end surface of the compound fertilizer, and the lower end surface of the compound fertilizer is separated from the conveyor belt. Compared with the state of the compound fertilizer before being clamped by the clamping claws, the compound fertilizer will rise a distance after being clamped, so that the upper end surface of the compound fertilizer can continue to abut against the pressure plate, so that the pressure plate continues to squeeze the compound fertilizer. At the same time, in the process of driving the clamping claws to clamp the compound fertilizer, the clamping arm gradually approaches the longitudinal adjustment roller and pushes the longitudinal adjustment roller to move, so that the two longitudinal adjustment rollers approach each other. In this process, the longitudinal adjustment roller drives the compound fertilizer and the pressure plate to move, so that the compound fertilizer is longitudinally centered. At the same time, the driving assembly drives the lateral adjustment roller to move, the two lateral adjustment rollers approach each other, and drive the compound fertilizer, the pressure plate and the adjustment plate to move, so that the compound fertilizer is laterally centered. Then, the mechanical arm drives the compound fertilizer to be transported and stacked. The present invention is conducive to fixing the position of the compound fertilizer on the clamping claw by squeezing the compound fertilizer in the up and down directions and aligning it in the longitudinal and lateral directions, thereby facilitating the compound fertilizer to be neatly stacked and increasing the stability of the stacking.

[0008] Preferably, a sliding rod is slidably connected to the mounting frame, and a nut is rotatably connected to the end of the sliding rod. A sliding hole is opened in the sliding rod, and a screw rod cooperating with the nut is installed in the sliding hole. A connecting head is installed at the end of the screw rod, and the longitudinal adjustment roller is rotatably connected to the connecting head. A compression spring is connected between the sliding rod and the mounting frame, and a top head that can abut against the sliding rod is provided on the clamping arm.

[0009] By adopting the above technical solution, during the movement of the clamping arm, the top pushes the slide bar to move, thereby driving the longitudinal adjustment roller to move, and the longitudinal adjustment roller drives the compound fertilizer and the pressure plate to move, thereby realizing the longitudinal centering of the compound fertilizer, and the clamping claw releases the clamping of the compound fertilizer. After the compound fertilizer falls, the compression spring can reset the slide bar and the longitudinal adjustment roller. The nut is rotated and connected to the slide bar, and the nut and the screw are connected by threads, which will cause the screw to move, thereby driving the connector and the longitudinal adjustment roller to move, and the distance between the longitudinal adjustment roller and the compound fertilizer can be adjusted, which is conducive to clamping and centering compound fertilizers of different widths, thereby facilitating the stability of stacking compound fertilizers of different widths.

[0010] Preferably, a return spring is connected between the slide plate 1 and the transverse slide groove, and between the slide plate 2 and the longitudinal slide groove. By adopting the above technical solution, the clamping claws release the gripping of the compound fertilizer, and after the compound fertilizer falls, the reset spring can reset the pressing plate and the adjusting plate, so as to continue to clamp and transport the next bag of compound fertilizer.

[0011] Preferably, limit blocks are installed at the ends of the longitudinal slide groove and the transverse slide groove.

[0012] By adopting the above technical solution, the limit block can limit the sliding stroke of slide plate one and slide plate two, which is beneficial to make slide plate one and the horizontal slide groove, and slide plate two and the longitudinal slide groove in a sliding connection state.

[0013] Preferably, a sliding frame is slidably connected below the mounting frame, and the transverse adjustment roller is rotatably connected to the sliding frame.

[0014] By adopting the above technical solution, the driving component drives the sliding frame to slide, and the sliding frame drives the lateral adjustment roller to slide synchronously, so that the lateral adjustment roller can contact the compound fertilizer, thereby pushing the compound fertilizer to move and realizing the lateral centering of the compound fertilizer.

[0015] Preferably, the driving assembly includes a screw rotatably connected to the lower part of the mounting frame and a screw motor driving the screw to rotate, two ends of the screw are provided with two sections of threads with opposite rotation directions, and the screw is connected to the two sliding frames by threads.

[0016] By adopting the above technical solution, the screw motor drives the screw to rotate, so that the two sliding frames at both ends of the screw approach each other, and the sliding frames drive the lateral adjustment rollers to move synchronously, so that the two lateral adjustment rollers approach each other, thereby realizing the lateral centering of the compound fertilizer.

[0017] Preferably, guide rods are installed at the lower part of the mounting frame and on both sides of the lead screw, and the sliding frame passes through the guide rods.

[0018] By adopting the above technical solution, the guide rod is helpful to increase the stability of the sliding frame during movement.

[0019] Preferably, the driving member includes a linear driver 2 mounted on a mounting frame, a connecting member hinged to an output shaft of the linear driver 2, a rotating shaft is rotatably mounted on the lower portion of the mounting frame, and the connecting member and the clamping arm are both connected to the rotating shaft.

[0020] By adopting the above technical solution, the second linear drive drives the connecting member to move, the connecting member drives the rotating shaft to deflect, and the rotating shaft drives the clamping arm and the clamping claw to deflect synchronously, thereby clamping or releasing the compound fertilizer.

[0021] Preferably, the mounting frame includes an upper mounting plate, a lower mounting plate, and a support column connected between the upper mounting plate and the lower mounting plate, linear drive 1 and linear drive 2 are both arranged on the upper mounting plate, and the sliding frame and the sliding rod are arranged on the lower mounting plate.

[0022] By adopting the above technical solution, the upper mounting plate provides support for linear drive one and linear drive two, and the lower mounting plate provides support for the sliding frame and the sliding rod. At the same time, the distance between the upper mounting plate and the lower mounting plate is adapted to the length of the clamping arm in the up and down directions, which facilitates the clamping claws to clamp the compound fertilizer on the conveyor belt.

[0023] Preferably, a limiting groove is provided on the upper mounting frame, and the connecting piece passes through the limiting groove.

[0024] By adopting the above technical solution, the limit groove limits the travel of the connecting member, and further limits the deflection angle of the rotating shaft, thereby limiting the deflection angle of the clamping arm and the clamping claw.

[0025] The beneficial effects of the above technical solution of the present invention are as follows: 1. The pressing plate of the present invention can squeeze the upper end surface of the compound fertilizer. At the same time, the longitudinal adjustment roller drives the compound fertilizer and the pressing plate to move so that the compound fertilizer is longitudinally centered. The transverse adjustment roller can drive the compound fertilizer, the pressing plate and the adjustment plate to move so that the compound fertilizer is transversely centered, which is beneficial to fix the position of the compound fertilizer on the clamping jaws, thereby facilitating the neat stacking of the compound fertilizer and increasing the stability of the stacking.

[0026] 2. The longitudinal adjustment roller is rotatably installed on the connecting head. The distance between the connecting head and the compound fertilizer is adjustable, which is conducive to clamping and centering compound fertilizers of different widths, thereby increasing the stability of the stacking of compound fertilizers of different widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a compound fertilizer stacking device of the present invention; Figure 2A bottom view of the mechanical arm of the present invention holding compound fertilizer; Figure 3 It is a schematic diagram of the structure of the mounting frame and the mechanical arm of the present invention; Figure 4 is a cross-sectional view of the mounting frame and the mechanical arm of the present invention; Figure 5 for Figure 4 The enlarged view of point A in the middle; Figure 6 It is a schematic diagram of the local structure of the mechanical arm of the present invention clamping compound fertilizer; Figure 7 It is a cross-sectional view of the lifting frame, the adjustment plate and the pressing plate of the present invention; Figure 8 It is a cross-sectional view of the adjustment plate and the pressure plate of the present invention.

[0028] In the figure: 1. Robot arm; 2. Clamping arm; 21. Clamping claw; 22. Head; 3. Driving member; 31. Linear drive 2; 32. Connecting member; 4. Mounting frame; 41. Upper mounting plate; 411. Rotating shaft; 412. Limiting groove; 42. Lower mounting plate; 421. Connecting plate; 43. Support column; 5. Lifting frame; 51. Linear drive 1; 52. Slide plate 1; 53. Adjusting plate; 531. Horizontal slide groove; 532. Slide plate 2; 54. Pressing plate; 541. Longitudinal slide groove; 542. Return spring; 543. Limiting block; 6. Sliding frame; 61. Horizontal adjustment roller; 62. Driving assembly; 621. Lead screw; 622. Lead screw motor; 63. Guide rod; 7. Sliding rod; 71. Nut; 72. Screw; 73. Connecting head; 74. Longitudinal adjustment roller; 75. Compression spring; 8. Compound fertilizer. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be combined with the embodiments of the present invention. Figure 1-Figure 8 , the technical solution of the embodiment of the present invention is clearly and completely described.

[0030] Example This embodiment provides a compound fertilizer stacking device, such as Figure 1 As shown, it includes a robot arm 1 and two clamping arms 2 arranged at the ends of the robot arm 1.

[0031] like Figure 2 and Figure 3 As shown, a plurality of L-shaped clamping claws 21 are connected to each of the two clamping arms 2 at intervals, and the clamping arms 2 are driven by a driving member 3. When the conveyor belt conveys the bagged compound fertilizer 8 to one side of the mechanical arm 1, the driving member 3 drives the clamping arm 2 to move, and after the clamping claws 21 clamp the bagged compound fertilizer 8, the mechanical arm 1 drives the clamping arm 2 to move, and stacks the bagged compound fertilizer 8 in sequence.

[0032] Among them, Figure 3 As shown, a mounting frame 4 is installed at the end of the robot arm 1, and the mounting frame 4 includes an upper mounting plate 41, a lower mounting plate 42, and a support column 43 connected between the upper mounting plate 41 and the lower mounting plate 42, and the axis of the support column 43 extends in the up and down direction.

[0033] The lower mounting plate 42 is slidably connected with a lifting frame 5, and the upper mounting plate 41 is provided with a linear actuator 51, which drives the lifting frame 5 to move up and down. An adjustment plate 53 and a pressing plate 54 are arranged in sequence below the lifting frame 5 from top to bottom.

[0034] like Figure 3 As shown, the linear drive 1 51 drives the lifting frame 5 to move downward, and the lifting frame 5 drives the adjustment plate 53 and the pressing plate 54 to move downward until the pressing plate 54 abuts against the upper end surface of the compound fertilizer 8 and squeezes the compound fertilizer 8.

[0035] like Figure 4 and Figure 5 As shown, two slide plates 52 are installed at the lower part of the lifting frame 5. Correspondingly, two inverted T-shaped transverse sliding grooves 531 are opened on the adjustment plate 53, and the slide plates 52 are slidably arranged in the transverse sliding grooves 531.

[0036] like Figure 7 and Figure 8 As shown, two slide plates 532 are installed below the adjustment plate 53, and correspondingly, two inverted T-shaped longitudinal grooves 541 are provided on the pressure plate 54, and the slide plates 532 are slidably arranged in the longitudinal grooves 541. The length directions of the transverse grooves 531 and the longitudinal grooves 541 are perpendicular.

[0037] like Figure 4 As shown, a force is applied to the pressing plate 54 along the length direction of the longitudinal slide groove 541, and the pressing plate 54 can slide along the length direction of the longitudinal slide groove 541 relative to the adjustment plate 53. Figure 5 As shown, a force is applied to the pressure plate 54 along the length direction of the transverse slide groove 531. Since the pressure plate 54 and the adjustment plate 53 cannot slide along the length direction of the transverse slide groove 531, while the adjustment plate 53 can slide along the length direction of the transverse slide groove 531 relative to the mounting frame 4, the pressure plate 54 and the adjustment plate 53 can slide along the length direction of the transverse slide groove 531 relative to the mounting frame 4.

[0038] like Figure 7 and Figure 8 As shown, a return spring 542 is connected between the slide plate 1 52 and the horizontal slide groove 531 , and between the slide plate 2 532 and the longitudinal slide groove 541 . The return spring 542 can return the pressure plate 54 and the adjustment plate 53 to their original positions.

[0039] like Figure 7 and Figure 8As shown, the ends of the longitudinal slide groove 541 and the transverse slide groove 531 are both installed with limit blocks 543. The limit blocks 543 can limit the sliding stroke of the slide plate 1 52 and the slide plate 2 532, which is conducive to making the slide plate 1 52 and the transverse slide groove 531, and the slide plate 2 532 and the longitudinal slide groove 541 in a sliding connection state.

[0040] like Figure 3 As shown, both ends of the lower part of the mounting frame 4 are slidably connected to a sliding frame 6, and a transverse adjustment roller 61 is rotatably connected to the sliding frame 6, and the axis of the transverse adjustment roller 61 is perpendicular to the length direction of the transverse slide groove 531.

[0041] like Figure 2 and Figure 3 As shown, the slide frame 6 is driven by a driving assembly 62. The driving assembly 62 includes a lead screw 621 rotatably connected to the lower part of the mounting frame 4 and a lead screw motor 622 driving the lead screw 621 to rotate. Two ends of the lead screw 621 are provided with two sections of threads with opposite rotation directions. The lead screw 621 is connected to the two slide frames 6 by threads. The axis of the lead screw 621 is parallel to the length direction of the transverse slide groove 531, that is, perpendicular to the axis of the transverse adjustment roller 61.

[0042] like Figure 2 As shown, guide rods 63 are installed at the lower part of the lower mounting plate 42 and on both sides of the lead screw 621. The sliding frame 6 passes through the guide rods 63, and the axis of the guide rods 63 is perpendicular to the axis of the lead screw 621. The guide rods 63 are conducive to increasing the stability of the sliding frame 6 during movement.

[0043] like Figure 4 As shown, the linear drive 51 drives the lifting frame 5 to move downward, and after the pressing plate 54 squeezes the upper end surface of the compound fertilizer 8, the linear drive 51 drives the lifting frame 5 and the pressing plate 54 to move up a certain distance, and the driving member 3 drives the two clamping arms 2 to approach each other, and the clamping claws 21 on the clamping arms 2 abut the lower end surface of the compound fertilizer 8, and the lower end surface of the compound fertilizer 8 is separated from the conveyor belt. Compared with the state of the compound fertilizer 8 before being clamped by the clamping claws 21, the compound fertilizer 8 will rise a certain distance after being clamped, so that the upper end surface of the compound fertilizer 8 can continue to abut against the pressing plate 54, so that the pressing plate 54 continues to maintain the state of squeezing the compound fertilizer 8.

[0044] like Figure 2 and Figure 3As shown, the lead screw motor 622 drives the lead screw 621 to rotate, so that the two sliding frames 6 at both ends of the lead screw 621 approach each other, and the two sliding frames 6 drive the two transverse adjustment rollers 61 to move synchronously, so that the two transverse adjustment rollers 61 approach each other, until the two transverse adjustment rollers 61 contact the compound fertilizer 8, because the pressing plate 54 and the adjustment plate 53 cannot slide along the length direction of the transverse slide groove 531, and the adjustment plate 53 can slide along the length direction of the transverse slide groove 531 relative to the mounting frame 4. As the two transverse adjustment rollers 61 approach each other, the compound fertilizer 8, the pressing plate 54 and the adjustment plate 53 are driven to move, so that the compound fertilizer 8 is laterally centered.

[0045] like Figure 2 and Figure 7 As shown, longitudinal adjustment rollers 74 are provided on both sides of the lower mounting plate 42 , and the axis of the longitudinal adjustment rollers 74 is perpendicular to the length direction of the longitudinal slide groove 541 .

[0046] Specifically, Figure 6 and Figure 7 As shown, a pair of connecting plates 421 are installed on both sides of the lower mounting plate 42, and a sliding rod 7 is slidably connected to the connecting plate 421, and the sliding rod 7 passes through the connecting plate 421, and the axis of the sliding rod 7 is parallel to the length direction of the longitudinal sliding groove 541. That is, a pair of sliding rods 7 are provided on both sides of the lower mounting plate 42.

[0047] like Figure 6 As shown, a nut 71 is rotatably connected to one side of the slide bar 7 near the pressure plate 54, a sliding hole is provided at one end of the slide bar 7 near the nut 71, a screw rod 72 is slidably connected in the sliding hole, and the axis of the screw rod 72 is colinear with the axis of the slide bar 7. The screw rod 72 passes through the nut 71 and is connected to the nut 71 by a thread.

[0048] like Figure 6 As shown, a connector 73 is installed at the end of the screw rod 72 , and a longitudinal adjustment roller 74 is rotatably connected between the two connectors 73 on the same side of the lower mounting plate 42 , and the axis of the longitudinal adjustment roller 74 is perpendicular to the axis of the screw rod 72 .

[0049] like Figure 6 As shown, a compression spring 75 is connected between one end of the slide bar 7 away from the connector 73 and the connecting plate 421. The compression spring 75 is sleeved on the slide bar 7. Both ends of the compression spring 75 are respectively connected to the slide bar 7 and the connecting plate 421. The clamping arm 2 is provided with a top head 22 that can abut against the slide bar 7.

[0050] like Figure 3 and Figure 6As shown, in the process of driving the clamping jaws 21 to clamp the compound fertilizer 8, the pressing plate 54 squeezes the upper end surface of the compound fertilizer 8, and the two clamping arms 2 approach each other. When the top heads 22 on the clamping arms 2 abut against the slide bar 7, as the clamping arms 2 continue to move, the two top heads 22 push the two slide bars 7 to move, thereby driving the two longitudinal adjustment rollers 74 to approach each other. In this process, the longitudinal adjustment roller 74 drives the compound fertilizer 8 and the pressing plate 54 to move, so that the compound fertilizer 8 is longitudinally centered. After stacking, the driving member 3 drives the two clamping arms 2 away from each other, the top heads 22 are separated from the slide bar 7, and the compression spring 75 can reset the slide bar 7 and the longitudinal adjustment roller 74.

[0051] like Figure 6 As shown, since the nut 71 is rotatably connected to the slide bar 7, the nut 71 and the screw rod 72 are threadedly connected. Rotating the nut 71 will cause the screw rod 72 to move relative to the nut 71 and the slide bar 7, thereby driving the connecting head 73 and the longitudinal adjustment roller 74 to move. The distance between the longitudinal adjustment roller 74 and the compound fertilizer 8 can be adjusted, which is beneficial to clamping and centering the compound fertilizers 8 of different widths, thereby facilitating the stability of stacking the compound fertilizers 8 of different widths.

[0052] like Figure 3 As shown, the driving member 3 includes a linear actuator 2 31 mounted on the upper mounting plate 41, and a connecting member 32 hinged on the output shaft of the linear actuator 2 31. The axial direction of the output shaft of the linear actuator 2 31 is perpendicular to the length direction of the longitudinal slide 541. Two linear actuators 2 31 and two connecting members 32 are provided, and a linear actuator 2 31 and a connecting member 32 are provided on both sides of the upper mounting plate 41. The connecting member 32 is rod-shaped and is obliquely arranged on the output shaft of the linear actuator 2 31, and the two connecting members 32 are away from each other from top to bottom.

[0053] like Figure 3 As shown, the lower part of the upper mounting plate 41 is rotatably connected with a rotating shaft 411, and the axial direction of the rotating shaft 411 is perpendicular to the axial direction of the output shaft of the linear actuator 2 31. The connecting member 32 and the clamping arm 2 are both connected to the rotating shaft 411, that is, the upper end of the connecting member 32 is hinged to the output shaft of the linear actuator 2 31, and the lower end of the connecting member 32 is fixedly connected to the rotating shaft 411. The linear actuator 1 51 and the linear actuator 2 31 in this embodiment are both cylinders or hydraulic cylinders.

[0054] like Figure 3As shown, the two linear actuators 2 31 drive the upper ends of the two connecting members 32 to approach each other, the connecting member 32 drives the rotating shaft 411 to deflect, the rotating shaft 411 drives the clamping arm 2 and the clamping jaw 21 to deflect synchronously, and the two clamping jaws 21 move away from each other, thereby releasing the compound fertilizer 8. Conversely, the two linear actuators 2 31 drive the upper ends of the two connecting members 32 to approach each other, thereby enabling the two clamping jaws 21 to approach each other, thereby clamping the compound fertilizer 8.

[0055] like Figure 3 As shown, the upper mounting frame 4 is provided with a limiting groove 412, and the connecting member 32 passes through the limiting groove 412. The limiting groove 412 limits the travel of the connecting member 32, and further limits the deflection angle of the rotating shaft 411, thereby limiting the deflection angle of the clamping arm 2 and the clamping claw 21.

[0056] The implementation principle of a compound fertilizer stacking device of this embodiment is as follows: When the conveyor belt transports the bagged compound fertilizer 8 to one side of the robot arm 1, the linear drive 51 drives the lifting frame 5 to move downward, and the lifting frame 5 drives the adjustment plate 53 and the pressing plate 54 to move downward until the pressing plate 54 abuts against the upper end surface of the compound fertilizer 8 and squeezes the compound fertilizer 8.

[0057] The linear drive 51 drives the lifting frame 5 and the pressing plate 54 to move up a certain distance, and the driving member 3 drives the two clamping arms 2 to approach each other. The clamping claw 21 on the clamping arm 2 abuts against the lower end surface of the compound fertilizer 8, and the lower end surface of the compound fertilizer 8 is separated from the conveyor belt. Compared with the state of the compound fertilizer 8 before being clamped by the clamping claw 21, the compound fertilizer 8 will rise a certain distance after being clamped, so that the upper end surface of the compound fertilizer 8 can continue to abut against the pressing plate 54, so that the pressing plate 54 continues to maintain the extrusion state of the compound fertilizer 8.

[0058] When the clamping jaws 21 are clamping the compound fertilizer 8, the two clamping arms 2 approach each other. When the top heads 22 on the clamping arms 2 abut against the slide bar 7, as the clamping arms 2 continue to move, the two top heads 22 push the two slide bars 7 to move respectively, thereby driving the two longitudinal adjustment rollers 74 to approach each other.

[0059] At the same time, the lead screw motor 622 drives the lead screw 621 to rotate, so that the two sliding frames 6 at both ends of the lead screw 621 approach each other, and the two sliding frames 6 drive the two transverse adjustment rollers 61 to move synchronously, so that the two transverse adjustment rollers 61 approach each other, until the two transverse adjustment rollers 61 contact the compound fertilizer 8, because the pressing plate 54 and the adjustment plate 53 cannot slide along the length direction of the transverse slide groove 531, and the adjustment plate 53 can slide along the length direction of the transverse slide groove 531 relative to the mounting frame 4. As the two transverse adjustment rollers 61 approach each other, the compound fertilizer 8, the pressing plate 54 and the adjustment plate 53 are driven to move, so that the compound fertilizer 8 is laterally centered.

[0060] After the compound fertilizer 8 is centered, the robot arm 1 transfers the compound fertilizer 8 to a suitable position, and then the second linear actuator 31 drives the two clamping jaws 21 to move away from each other, and the compound fertilizer 8 falls.

[0061] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

Claims

1. A compound fertilizer stacking device, comprising a mechanical arm (1) and two clamping arms (2) arranged on the mechanical arm (1), the clamping arms (2) being connected with L-shaped clamping claws (21), the clamping arms (2) being driven by a driving member (3), characterized in that: A mounting frame (4) is mounted on the end of the mechanical arm (1), a lifting frame (5) is slidably mounted on the mounting frame (4), and the lifting frame (5) is driven by a linear drive 1 (51); An adjustment plate (53) and a pressure plate (54) are provided below the lifting frame (5); an inverted T-shaped transverse slide groove (531) is provided on the adjustment plate (53); a slide plate (52) slidably matched with the transverse slide groove (531) is installed on the lifting frame (5); an inverted T-shaped longitudinal slide groove (541) is provided on the pressure plate (54); and a slide plate (532) slidably matched with the longitudinal slide groove (541) is installed on the adjustment plate (53); Both ends of the lower part of the mounting frame (4) are slidably provided with transverse adjustment rollers (61), and the sliding of the transverse adjustment rollers (61) is driven by a driving assembly (62); and both sides of the mounting frame (4) and the parts close to the clamping arm (2) are slidably provided with longitudinal adjustment rollers (74).

2. The compound fertilizer stacking device according to claim 1, characterized in that: A slide bar (7) is slidably connected to the mounting frame (4), and a nut (71) is rotatably connected to the end of the slide bar (7). A slide hole is provided in the slide bar (7), and a screw rod (72) matching with the nut (71) is installed in the slide hole. A connecting head (73) is installed at the end of the screw rod (72). A longitudinal adjustment roller (74) is rotatably connected to the connecting head (73). A compression spring (75) is connected between the slide bar (7) and the mounting frame (4), and a top head (22) capable of abutting against the slide bar (7) is provided on the clamping arm (2).

3. The compound fertilizer stacking device according to claim 2, characterized in that: A return spring (542) is connected between the first slide plate (52) and the transverse slide groove (531), and between the second slide plate (532) and the longitudinal slide groove (541).

4. The compound fertilizer stacking device according to claim 3, characterized in that: Limit blocks (543) are installed at the ends of the longitudinal slide groove (541) and the transverse slide groove (531).

5. The compound fertilizer stacking device according to claim 4, characterized in that: A sliding frame (6) is slidably connected to the lower portion of the mounting frame (4), and a transverse adjustment roller (61) is rotatably connected to the sliding frame (6).

6. The compound fertilizer stacking device according to claim 5, characterized in that: The driving assembly (62) comprises a lead screw (621) rotatably connected to the lower part of the mounting frame (4) and a lead screw motor (622) for driving the lead screw (621) to rotate. Two ends of the lead screw (621) are provided with two sections of threads with opposite rotation directions. The lead screw (621) is connected to the two sliding frames (6) via threads.

7. The compound fertilizer stacking device according to claim 6, characterized in that: Guide rods (63) are installed at the lower part of the mounting frame (4) and on both sides of the lead screw (621), and the sliding frame (6) passes through the guide rods (63).

8. The compound fertilizer stacking device according to claim 7, characterized in that: The driving member (3) comprises a second linear driver (31) mounted on a mounting frame (4), and a connecting member (32) hinged to an output shaft of the second linear driver (31); a rotating shaft (411) is rotatably mounted at the lower portion of the mounting frame (4); and the connecting member (32) and the clamping arm (2) are both connected to the rotating shaft (411).

9. The compound fertilizer stacking device according to claim 8, characterized in that: The mounting frame (4) comprises an upper mounting plate (41), a lower mounting plate (42), and a support column (43) connected between the upper mounting plate (41) and the lower mounting plate (42); a linear drive 1 (51) and a linear drive 2 (31) are both arranged on the upper mounting plate (41); and a sliding frame (6) and a sliding rod (7) are arranged on the lower mounting plate (42).

10. The compound fertilizer stacking device according to claim 9, characterized in that: A limiting groove (412) is provided on the upper mounting frame (4), and the connecting member (32) passes through the limiting groove (412).

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