Electric multi-directional manipulator for edible mushroom processing based on PLC (Programmable Logic Controller)

Abstract

The invention provides a PLC-based electric multi-directional manipulator for edible mushroom processing. The PLC-based electric multi-directional manipulator comprises a fixed block, a base, a first gear motor, a supporting ring, a supporting column, a control box, a PLC, a fixable telescopic connecting frame structure, a connectable lifting driving seat structure, a reinforced buffer anti-shaking frame structure and a rotatable anti-skid clamping seat structure. The connecting frame, the supporting column, the anti-shaking frame, a through hole, a spring and a clamping block are arranged in a matched mode, the connecting frame is arranged in the middle of the interior of the anti-shaking frame in the using process, reinforcing work can be conveniently conducted in the using process, and the purpose of preventing shaking in the working process is achieved; through arrangement of a connecting frame, a fixing frame, a second gear motor, an inclined T-shaped connecting base and a first electric telescopic rod, the inclined T-shaped connecting base and the first electric telescopic rod can be driven to rotate through the second gear motor in the using process, and the purpose of conveniently adjusting the angle and the transverse length in the using process is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of edible fungus processing equipment, and in particular relates to a PLC-based electric multi-directional manipulator for edible fungus processing. Background Art

[0002] The electric multi-directional manipulator is an apparatus composed of an electrical structure, which utilizes electric energy to clamp edible fungus frames filled with edible fungi on a conveyor and move them in multiple directions to transport and stack them in the field of edible fungi processing. The existing electric multi-directional manipulator for edible fungi processing is prone to shaking during multi-directional work, and is inconvenient to clamp and adjust according to the material of the material during use, and is inconvenient to telescope and adjust according to the working environment during use. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an electric multi-directional manipulator for processing edible fungi based on PLC, which prevents shaking during work by setting an anti-sway mechanism during use and improves the lateral support mechanism during use, so as to facilitate adjustment of work according to the environment at work; and improves the clamping mechanism during use, so as to facilitate clamping according to the material of the material at work.

[0004] The electric multi-directional manipulator for processing edible fungi based on PLC comprises a fixed block, which is bolted to the outer wall of the base respectively; a first reduction motor is bolted to the middle position of the inner top of the base; a support ring is bolted to the middle position of the upper end of the base; a support column is penetrated inside the support ring; a control box is bolted to the lower right side of the support column; a PLC is bolted to the upper inner wall of the control box, characterized in that a fixed telescopic connecting frame structure is provided at the top of the support column and a connectable lifting drive seat structure is provided at both ends of the fixed telescopic connecting frame structure; a reinforced buffer anti-sway frame structure is connected to the outer wall of the fixed telescopic connecting frame structure; a rotatable anti-slip clamping seat structure is provided at the bottom end of the connectable lifting drive seat structure; the fixed telescopic connecting frame structure comprises a connecting frame, and a fixed frame is bolted to the middle position of the left and right ends of the connecting frame respectively; a second reduction motor is fixed inside the fixed frame; an output shaft of the second reduction motor is bolted to one end of an oblique T-shaped connecting seat; a first electric telescopic rod is bolted to the middle position of the other end of the oblique T-shaped connecting seat.

[0005] Preferably, the connectable lifting drive seat structure includes a connecting seat, a second electric telescopic rod is penetrated through the middle position inside the connecting seat and is bolted; the bottom end of the second electric telescopic rod is bolted to the middle position of the upper end of the clamping connecting seat; an infrared sensor is bolted to the middle position inside the bottom end of the clamping connecting seat.

[0006] Preferably, the reinforced buffer anti-sway frame structure includes an anti-sway frame, and through holes are respectively opened in the middle position of the left and right ends of the anti-sway frame; one end of the spring is respectively fixed on the left and right sides of the inner top end and the left and right sides of the inner bottom end of the anti-sway frame; and the other end of the spring is respectively fixed with a clamping block.

[0007] Preferably, the rotatable anti-slip clamping seat structure includes an inverted U-shaped frame, and a third reduction motor is fixed with bolts in the middle position at the lower part of the front surface of the inverted U-shaped frame; a first rotating ring is arranged inside the bottom end of the inverted U-shaped frame, and the front end of the first rotating ring is bolted to the outer wall of the output shaft of the third reduction motor; a connecting rod is bolted to the middle position at the bottom end of the first rotating ring; a fourth reduction motor is bolted to the middle position at the lower part of the front surface of the connecting rod; a second rotating ring is arranged inside the bottom end of the connecting rod, and the front end of the second rotating ring is bolted to the outer wall of the output shaft of the fourth reduction motor; a clamping rod is bolted to the middle position at the bottom end of the second rotating ring; and the inner wall of the clamping rod is glued with anti-slip protrusions in sequence from top to bottom.

[0008] Compared with the prior art, the present invention has the following beneficial effects:

[0009] 1. In the present invention, the connecting frame, support column, anti-sway frame, through hole, spring and clamping block are arranged in coordination with each other, which is conducive to setting the connecting frame in the middle position inside the anti-sway frame during use, so as to facilitate reinforcement work during use and prevent shaking during work.

[0010] 2. In the present invention, the arrangement of the connecting frame, the fixing frame, the second reduction motor, the oblique T-shaped connecting seat and the first electric telescopic rod is conducive to driving the oblique T-shaped connecting seat and the first electric telescopic rod to rotate through the second reduction motor during use, thereby facilitating the purpose of adjusting the angle and lateral length during use.

[0011] 3. In the present invention, the inverted U-shaped frame, the third reduction motor, the first rotating ring, the connecting rod, the fourth reduction motor, the second rotating ring, the clamping rod and the anti-slip protrusion are arranged to respectively control the third reduction motor and the fourth reduction motor through PLC during use, so as to facilitate the purpose of controlling the taking according to work needs and the number of edible fungi and the purpose of controlling the force during the taking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention.

[0013] Figure 2 It is a structural schematic diagram of the fixed telescopic connecting frame structure of the present invention.

[0014] Figure 3 It is a structural schematic diagram of the connectable lifting drive seat structure of the present invention.

[0015] Figure 4 It is a structural schematic diagram of the reinforced buffer anti-sway frame structure of the present invention.

[0016] Figure 5 It is a structural schematic diagram of the rotatable anti-skid clamping seat structure of the present invention.

[0017] Figure 6 It is a schematic diagram of electrical wiring of the present invention.

[0018] In the figure:

[0019] 1. Fixed block; 2. Base; 3. First reduction motor; 4. Support ring; 5. Support column; 6. Control box; 7. PLC; 8. Fixed telescopic connecting frame structure; 81. Connecting frame; 82. Fixed frame; 83. Second reduction motor; 84. Oblique T-shaped connecting seat; 85. First electric telescopic rod; 9. Connectable lifting drive seat structure; 91. Connecting seat; 92. Second electric telescopic rod; 93. Clamping connecting seat; 94. Infrared sensor; 10. Reinforced buffer anti-sway frame structure; 101. Anti-sway frame; 102. Through hole; 103. Spring; 104. Clamping block; 11. Rotatable anti-skid clamping seat structure; 111. Inverted U-shaped frame; 112. Third reduction motor; 113. First rotating ring; 114. Connecting rod; 115. Fourth reduction motor; 116. Second rotating ring; 117. Clamping rod; 118. Anti-skid protrusion. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1 and attached Figure 2As shown, the PLC-based electric multi-directional manipulator for edible fungus processing includes a fixed block 1, a base 2, a first reduction motor 3, a support ring 4, a support column 5, a control box 6, a PLC 7, a fixed telescopic connecting frame structure 8, a connectable lifting drive seat structure 9 and a reinforced buffer anti-sway frame structure 10 and a rotatable anti-slip clamping seat structure 11, wherein the fixed block 1 is bolted to the outer wall of the base 2 on all sides; the first reduction motor 3 is bolted to the middle position of the inner top of the base 2; the support ring 4 is bolted to the middle position of the upper end of the base 2; the support column 5 is penetrated inside the support ring 4; the control box 6 is bolted to the lower right side of the support column 5; the PLC 7 is bolted to the upper inner wall of the control box 6; the top of the support column 5 is provided with a fixed telescopic connecting frame structure 8 and the two ends of the fixed telescopic connecting frame structure 8 are provided with connectable lifting drive seat structures 9; the outer wall of the fixed telescopic connecting frame structure 8 is connected with a reinforced buffer anti-sway frame structure 10; the A rotatable anti-slip clamping seat structure 11 is provided at the bottom end of the lifting drive seat structure 9; the fixed telescopic connecting frame structure 8 includes a connecting frame 81, a fixing frame 82, a second reduction motor 83, an oblique T-shaped connecting seat 84 and a first electric telescopic rod 85, and the fixing frames 82 are respectively bolted to the middle positions of the left and right ends of the connecting frame 81; the second reduction motor 83 is fixed inside the fixing frame 82; the output shaft of the second reduction motor 83 is bolted to one end of the oblique T-shaped connecting seat 84; the first electric telescopic rod 85 is bolted to the middle position of the other end of the oblique T-shaped connecting seat 84; when in use, the fixed block 1 and the base 2 are fixed in a suitable position, and an external wire is used to connect the external power supply and the external power control device, and then the first reduction motor 3 is controlled by the PLC7 to start working during work, and the first reduction motor 3 is rotated, and the support column 5 and the connecting frame 81 are driven to rotate at the same time. After rotating to a suitable position, the first electric telescopic rod 85 is controlled to work and the length is adjusted during work.

[0021] In this embodiment, combined with the Figure 3As shown, the connectable lifting drive seat structure 9 includes a connecting seat 91, a second electric telescopic rod 92, a clamping connection seat 93 and an infrared sensor 94. The second electric telescopic rod 92 is penetrated by the middle position inside the connecting seat 91 and is fixed with bolts; the bottom end of the second electric telescopic rod 92 is bolted to the middle position of the upper end of the clamping connection seat 93; the infrared sensor 94 is bolted to the middle position of the bottom end of the clamping connection seat 93; and in the process of controlling the first electric telescopic rod 85 to extend and retract, information is transmitted through the infrared sensor 94, and the information is transmitted to PLC7, and then after information analysis by PLC7, the second electric telescopic rod 92 is controlled to start working, and the clamping connection seat 93 is pushed to perform lifting and lowering, so as to facilitate adjustment and information detection during the processing.

[0022] In this embodiment, combined with the Figure 4 As shown, the reinforced buffer anti-sway frame structure 10 includes an anti-sway frame 101, a through hole 102, a spring 103 and a clamping block 104. The anti-sway frame 101 is provided with a through hole 102 in the middle of the left and right ends; one end of the spring 103 is fixed to the left and right sides of the inner top and the left and right sides of the inner bottom of the anti-sway frame 101; the other end of the spring 103 is fixed with a clamping block 104; during use, the anti-sway frame 101 is arranged on the outer wall of the connecting frame 81, and the first electric telescopic rod 85 passes through the inside of the through hole 102, and the spring 103 and the clamping block 104 cooperate to clamp and support the first electric telescopic rod 85 to prevent shaking during use.

[0023] In this embodiment, combined with the Figure 5As shown, the rotatable anti-slip clamping seat structure 11 includes an inverted U-shaped frame 111, a third reduction motor 112, a first rotating ring 113, a connecting rod 114, a fourth reduction motor 115, a second rotating ring 116, a clamping rod 117 and an anti-slip protrusion 118, and the third reduction motor 112 is bolted to the middle position of the lower part of the front surface of the inverted U-shaped frame 111; the first rotating ring 113 is arranged inside the bottom end of the inverted U-shaped frame 111, and the front end of the first rotating ring 113 is bolted to the outer wall of the output shaft of the third reduction motor 112; the connecting rod 114 is bolted to the middle position of the bottom end of the first rotating ring 113; the fourth reduction motor 115 is bolted to the middle position of the lower part of the front surface of the connecting rod 114 Motor 115; a second rotating ring 116 is arranged inside the bottom end of the connecting rod 114 and the front end bolt of the second rotating ring 116 is fixed to the outer wall of the output shaft of the fourth reduction motor 115; a clamping rod 117 is bolted to the middle position of the bottom end of the second rotating ring 116; the inner wall of the clamping rod 117 is glued with anti-skid protrusions 118 from top to bottom; then the third reduction motor 112 and the fourth reduction motor 115 are controlled to work respectively through PLC7, and the connecting rod 114 and the clamping rod 117 are driven to rotate respectively during work, and then the edible fungi are contacted through the anti-skid protrusion 118, and the operation of the edible fungi processing robot is realized through the clamping rod 117 cooperating with the connecting rod 114 and the clamping connector 93.

[0024] In this embodiment, specifically, the output shaft of the first reduction motor 3 passes through the middle position of the upper end of the base 2 ; the bottom end of the support column 5 is bolted to the outer wall of the output shaft of the first reduction motor 3 .

[0025] In this embodiment, specifically, the fixing frame 82 is a U-shaped stainless steel frame; the oblique T-shaped connecting seats 84 respectively pass through the middle position of the outer end of the fixing frame 82; and the connecting frame 81 is an H-shaped stainless steel frame.

[0026] In this embodiment, specifically, the upper end of the support column 5 is bolted to the middle position inside the lower end of the connecting frame 81 .

[0027] In this embodiment, specifically, the clamping connection seat 93 is a stainless steel seat with a groove in the middle of the bottom; the connection seat 91 is bolted to the outer end of the first electric telescopic rod 85.

[0028] In this embodiment, specifically, the clamping blocks 104 are made of stainless steel blocks and are respectively arranged on the left and right sides of the interior of the anti-sway frame 101 .

[0029] In this embodiment, specifically, the anti-sway frame 101 is set on the outer wall of the connecting frame 81 and fixed with bolts; the first electric telescopic rod 85 passes through the interior of the through hole 102 respectively; the upper end of the support column 5 passes through the middle position inside the bottom end of the anti-sway frame 101.

[0030] In this embodiment, specifically, the connecting rod 114 is a stainless steel rod with a groove in the middle of the bottom; the anti-slip protrusion 118 is an elastic silicone protrusion.

[0031] In this embodiment, specifically, the inverted U-shaped frame 111 is bolted to the left and right sides of the inner bottom end of the clamping connection seat 93 ; the infrared sensor 94 is arranged on the upper part between the inverted U-shaped frames 111 .

[0032] How it works

[0033] In the present invention, when in use, the fixing block 1 and the base 2 are fixed in appropriate positions, and an external wire is used to connect the external power supply and the external power supply control device, and then the first reduction motor 3 is controlled by PLC7 to start working, and the first reduction motor 3 is rotated, and at the same time, the support column 5 and the connecting frame 81 are driven to rotate. After rotating to a suitable position, the first electric telescopic rod 85 is controlled to work, and the length is adjusted during work. In the process of controlling the first electric telescopic rod 85 to extend and retract, the infrared sensor 94 is used to transmit information, and the information is transmitted to PLC7. After the information is analyzed by PLC7, the second electric telescopic rod 92 is controlled to start working, and the clamping connection seat 93 is pushed to perform lifting work, so that In order to perform adjustment and information detection work during the processing, during use, an anti-sway frame 101 is set on the outer wall of the connecting frame 81, and the first electric telescopic rod 85 passes through the inside of the through hole 102 respectively, and the spring 103 and the clamping block 104 cooperate to clamp and support the first electric telescopic rod 85 to prevent shaking during use, and then the third reduction motor 112 and the fourth reduction motor 115 are controlled by PLC7 to work respectively, and the connecting rod 114 and the clamping rod 117 are driven to rotate during work, and then the edible fungus is contacted through the anti-slip protrusion 118, and the clamping rod 117 cooperates with the connecting rod 114 and the clamping connecting seat 93 to realize the work of the edible fungus processing robot.

[0034] Utilizing the technical solution described in the present invention, or those skilled in the art designing a similar technical solution inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. A PLC-based electric multi-directional manipulator for processing edible fungi, comprising a fixed block (1), wherein the fixed block (1) is bolted to the outer wall of a base (2) on all sides; a first reduction motor (3) is bolted to the middle position of the top inner portion of the base (2); a support ring (4) is bolted to the middle position of the upper end of the base (2); a support column (5) penetrates the interior of the support ring (4); a control box (6) is bolted to the lower right side of the support column (5); a PLC (7) is bolted to the upper inner wall of the control box (6); and the characteristic is that: The top of the support column (5) in the PLC-based electric multi-directional manipulator for processing edible fungi is provided with a fixed telescopic connecting frame structure (8), and the two ends of the fixed telescopic connecting frame structure (8) are provided with connectable lifting drive seat structures (9); the outer wall of the fixed telescopic connecting frame structure (8) is connected with a reinforced buffer anti-sway frame structure (10); the bottom end of the connectable lifting drive seat structure (9) is provided with a rotatable anti-slip clamping seat structure (11); the fixed telescopic connecting frame structure (8) includes a connecting frame (81), and the middle positions of the left and right ends of the connecting frame (81) are respectively bolted with a fixing frame (82); the inside of the fixing frame (82) is fixed with a second reduction motor (83); the output shaft of the second reduction motor (83) is bolted with one end of an inclined T-shaped connecting seat (84); the middle position of the other end of the inclined T-shaped connecting seat (84) is bolted with a first electric telescopic rod (85).

2. The PLC-based electric multi-directional manipulator for edible fungus processing according to claim 1, characterized in that: The connectable lifting drive seat structure (9) comprises a connecting seat (91), a second electric telescopic rod (92) passing through the middle position inside the connecting seat (91) and being fixed by bolts; the bottom end of the second electric telescopic rod (92) is bolted to the middle position of the upper end of the clamping connection seat (93); and an infrared sensor (94) is bolted to the middle position inside the bottom end of the clamping connection seat (93).

3. The PLC-based electric multi-directional manipulator for edible fungus processing according to claim 1, characterized in that: The reinforced buffer anti-sway frame structure (10) comprises an anti-sway frame (101), and through holes (102) are respectively opened at the middle positions of the left and right ends of the anti-sway frame (101); one end of a spring (103) is respectively fixed to the left and right sides of the inner top end and the left and right sides of the inner bottom end of the anti-sway frame (101); and the other end of the spring (103) is respectively fixed to a clamping block (104).

4. The PLC-based electric multi-directional manipulator for edible fungus processing according to claim 1, characterized in that: The rotatable anti-slip clamping seat structure (11) comprises an inverted U-shaped frame (111), and a third reduction motor (112) is bolted to the middle position of the lower part of the front surface of the inverted U-shaped frame (111); a first rotating ring (113) is arranged inside the bottom end of the inverted U-shaped frame (111), and the front end of the first rotating ring (113) is bolted to the outer wall of the output shaft of the third reduction motor (112); a connecting rod (114) is bolted to the middle position of the bottom end of the first rotating ring (113); A fourth reduction motor (115) is bolted to the middle position of the lower part of the front surface of the connecting rod (114); a second rotating ring (116) is arranged inside the bottom end of the connecting rod (114), and the front end of the second rotating ring (116) is bolted to the outer wall of the output shaft of the fourth reduction motor (115); a clamping rod (117) is bolted to the middle position of the bottom end of the second rotating ring (116); and the inner wall of the clamping rod (117) is glued with anti-slip protrusions (118) in sequence from top to bottom.

5. The PLC-based electric multi-directional manipulator for edible fungus processing as claimed in claim 1, characterized in that: The upper end of the support column (5) is bolted to the middle position inside the lower end of the connecting frame (81).

6. The PLC-based electric multi-directional manipulator for edible fungus processing as claimed in claim 2, characterized in that: The clamping connection seat (93) is a stainless steel seat with a groove in the middle of the bottom; the connecting seat (91) is bolted to the outer end of the first electric telescopic rod (85).

7. The PLC-based electric multi-directional manipulator for edible fungus processing as claimed in claim 3, characterized in that: The anti-sway frame (101) is arranged on the outer wall of the connecting frame (81) and fixed by bolts; the first electric telescopic rods (85) respectively penetrate the interior of the through holes (102); and the upper end of the support column (5) penetrates the middle position inside the bottom end of the anti-sway frame (101).

8. The PLC-based electric multi-directional manipulator for edible fungus processing as claimed in claim 4, characterized in that: The inverted U-shaped frame (111) is bolted to the left and right sides of the inner bottom end of the clamping connection seat (93) respectively; the infrared sensor (94) is arranged at the upper part between the inverted U-shaped frames (111).

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