Automatic conveying and stacking equipment for packaged rice

Abstract

The invention belongs to the technical field of stacking equipment, and particularly relates to packaging bag rice automatic conveying and stacking equipment which comprises conveying equipment, a weighing mechanism, a six-axis mechanical arm, a clamping and lifting mechanism and a stacking table. The conveying equipment is used for conveying bagged rice and comprises an equipment frame and a conveying belt arranged on the equipment frame. The weighing mechanism is arranged on one side of the tail end of a running path of the conveying belt, is used for bearing and weighing bagged rice conveyed by the conveying belt, and comprises a bearing table and a weighing device which is arranged at the top of the bearing table and is not higher than the conveying belt; the first control mechanism and the second control mechanism of the clamping and lifting mechanism can respectively adjust the distance and the height of the diagonal lines of the lifting frame, the clamping and lifting mechanism can adapt to bagged rice of different specifications within a certain range, and the adaptation range is wide.

Description

Technical Field

[0001] This invention relates to the field of palletizing equipment technology, specifically to an automatic conveying and palletizing equipment for packaged rice. Background Technology

[0002] Nowadays, the use of automated equipment for palletizing and handling bagged rice is becoming increasingly widespread. With the advancement and development of technology, in order to improve work efficiency and quality and reduce the labor intensity of workers in modern rice industrial production, production enterprises have been gradually using automatic packaging and automatic palletizing equipment to replace manual packaging and palletizing operations of bagged products, achieving very good results.

[0003] In the existing automated conveying and palletizing process for packaged rice, the rice bags need to be handled. However, due to the different sizes and thicknesses of the rice bags, common equipment is not suitable for clamping and lifting different sizes of rice bags. This leads to the rice bags easily falling off during handling, affecting subsequent palletizing. Therefore, there is a need to develop an automated conveying and palletizing device for packaged rice. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0006] An automatic conveying and palletizing device for packaged rice includes a conveying device, a weighing mechanism, a six-axis robotic arm, a clamping and lifting mechanism, and a palletizing table;

[0007] The conveying equipment is used to convey bagged rice and includes a frame and a conveyor belt mounted on the frame.

[0008] The weighing mechanism is located at the end of the conveyor belt's running path and is used to receive and weigh the bagged rice conveyed by the conveyor belt. It includes a weighing platform and a weighing device located on the top of the weighing platform at a height not higher than the conveyor belt.

[0009] The six-axis robotic arm is located on the side near the load-bearing platform and is used to drive the clamping and lifting mechanism to clamp and lift the bagged rice from the weighing device and stack the bagged rice onto the stacking platform.

[0010] As a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice according to the present invention, the equipment frame is provided with a guiding mechanism for guiding the bagged rice during conveying.

[0011] The guiding mechanism includes several fixed frames symmetrically fixed on the front and rear sides of the equipment frame. The fixed frames are L-shaped in the side view and have a hollow fixed cylinder fixed on their top. An adjusting rod is slidably arranged on the inner side of each fixed cylinder. The adjusting rods in the same row are fixedly provided with a limit plate at the end closest to the conveyor belt. There are two limit plates in total, located above the conveyor belt. The limit plates are arranged parallel to the direction of the conveyor belt running path. The sliding adjusting rod is used to adjust the distance between the two limit plates.

[0012] Each of the limiting plates has an installation opening on its side wall. A limiting wheel is rotatably provided on the inner side of the installation opening via a rotating shaft. A protective sleeve protruding from the outer surface of the limiting plate is fixedly fitted on the outer side wall of the limiting wheel.

[0013] The sides of the two limiting plates are folded outward near their ends, forming a "trumpet opening" shape. The surfaces of the folded-out positions of the limiting plates are smooth, and a protective layer is fixedly provided at the ends.

[0014] In a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice as described in this invention, the other ends of the adjusting rods in the same row are fixedly provided with a connecting plate parallel to the limiting plate, a push-pull handle is fixedly provided on the side of the connecting plate away from the adjusting rod, and a locking screw for pressing down and fixing the adjusting rod is screwed through the top of each fixed cylinder.

[0015] As a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice according to the present invention, the top of the equipment frame is located at the end of the conveyor belt running path and is provided with a blocking mechanism for blocking / releasing the bagged rice.

[0016] The material blocking mechanism includes fixed plates symmetrically arranged on the front and rear sides of the top of the equipment frame. Each fixed plate is equipped with an electric push rod. The extension and retraction direction of the electric push rod is perpendicular to the running direction of the conveyor belt. A blocking rod is fixedly arranged on the extension and retraction end of the electric push rod, and a protective sleeve is fixedly fitted on the outside of the blocking rod.

[0017] As a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice as described in this invention, each of the fixed plates has an adjustment port on its upper and lower walls along the direction of the conveyor belt. An adjustment plate is fixedly installed at the bottom of the housing of the electric push rod. The adjustment plate is located on the top of the fixed plate and slides along the direction of the adjustment port. Locking bolts for locking the adjustment plate are provided on the top of each adjustment plate and the bottom of the fixed plate. The outer side of the locking bolts vertically penetrates the adjustment port.

[0018] As a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice according to the present invention, the clamping and lifting mechanism includes a rectangular mounting plate fixedly connected to the output end of a six-axis robotic arm. A circular first mounting groove is provided in the center of the inner cavity of the mounting plate. Second mounting grooves are provided at the four vertices of the inner side of the first mounting groove and the inner cavity of the mounting plate, respectively. The inner cavity of the second mounting groove is connected to the inner cavity of the first mounting groove. A first self-locking screw is rotatably provided on the inner side of each second mounting groove through a bearing. The extension lines of the four first self-locking screws coincide with the center of the first mounting groove and the vertices of the mounting plate, respectively. A movable block is slidably provided on the inner side of each second mounting groove along the axial direction of the first self-locking screw. The shaft of the first self-locking screw is screwed through the side wall of the movable block.

[0019] Each of the movable blocks has a hollow rotating cylinder rotatably installed through its upper and lower walls via bearings. A vertical second self-locking screw is threaded through the inner side of the rotating cylinder. The lower end of each second self-locking screw is located below the mounting plate and is fixedly equipped with a support frame for supporting the bottom "diagonal" position of the bagged rice. The end of the support frame near the bottom center of the mounting plate has a smooth slope and is fixedly equipped with a protective layer.

[0020] As a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice according to the present invention, the clamping and lifting mechanism further includes a first control mechanism and a second control mechanism.

[0021] The first control mechanism is used to synchronously control the distance between the four lifting frames and the center point of the first mounting slot, so as to adapt to bags of rice with different "diagonal" lengths.

[0022] The second control mechanism is used to synchronously control the distance between the top of the four support frames and the bottom of the mounting plate to accommodate bags of rice of different "thicknesses".

[0023] As a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice according to the present invention, wherein: a vertical fixing rod is fixedly provided at the center of the bottom wall of the inner cavity of the first mounting slot; the first control mechanism includes a transmission bevel gear rotatably disposed on the outside of the fixing rod body via a bearing; a side plate is fixedly provided on the inner side of each second mounting slot; the first self-locking screw body rotatably passes through the side wall of the side plate via a bearing; and a linkage bevel gear meshing with the transmission bevel gear is fixedly provided at the end of the first self-locking screw near the transmission bevel gear.

[0024] A first guide slide rod parallel to the first self-locking screw is fixedly provided between the side plate and the second mounting groove. The rod body of the first guide slide rod slides through the side wall of the movable block via a linear bearing.

[0025] The first control mechanism further includes a first servo motor fixedly installed in the inner cavity of the first mounting slot. The output shaft of the first servo motor is fixedly provided with an active bevel gear that meshes with the transmission bevel gear. The mounting plate has first heat dissipation holes evenly opened on its inner and outer sides near the position of the first servo motor.

[0026] As a preferred embodiment of the automatic conveying and palletizing equipment for packaged rice according to the present invention, the second control mechanism includes a worm gear fixed to the outside of the rotating cylinder, a bracket fixedly provided on the top of the movable block, a rotating rod arranged parallel to the first self-locking screw through a bearing on the side wall of the bracket, a worm gear arranged coaxially with itself on the rod body of the rotating rod, and the worm gear meshing with the worm gear and self-locking.

[0027] The rotating rod is fixedly provided with a spline rod coaxial with itself at one end near the center of the first mounting groove. A hollow transmission rod coaxial with the spline rod is rotatably provided through the side wall of the side plate via a bearing. A spline groove that slides with the spline rod is opened at the end of the transmission rod away from the center of the first mounting groove. A linkage bevel gear is fixedly provided at the other end of the transmission rod near the center of the first mounting groove. There are four linkage bevel gears in total. A transmission bevel gear that meshes with the four linkage bevel gears is rotatably provided on the outer side of the fixed rod via a bearing.

[0028] Each of the lifting frames is fixedly provided with a vertical second guide slide rod at its top end. The second guide slide rod is arranged parallel to the second self-locking screw, and the rod body of the second guide slide rod slides through the upper and lower side walls of the movable block through a linear bearing.

[0029] The first self-locking screw and the first guide slide are arranged alternately with the second self-locking screw and the second guide slide. The inner and outer walls of the mounting plate are provided with openings for the second self-locking screw and the second guide slide to move. The openings are opened along the movement direction of the movable block.

[0030] The second control mechanism also includes a second servo motor fixedly installed in the inner cavity of the first mounting slot. The output shaft of the second servo motor is fixedly provided with an active bevel gear that meshes with a bevel gear. The mounting plate has second heat dissipation holes evenly opened on its inner and outer sides near the position of the second servo motor.

[0031] The beneficial effects of this invention are:

[0032] 1. The guiding mechanism, through the "trumpet opening" design of the limiting plate, the setting of limiting wheels, protective sleeves, and protective layers, can guide the bagged rice to be transported smoothly, reducing deviation and jamming, and also reducing the risk of packaging bag wear;

[0033] 2. The material blocking mechanism uses an electric push rod to drive the blocking rod. Combined with the position adjustment function of the adjustment plate and the adjustment port, it can control the release rhythm of bagged rice and adapt to different sizes of bagged rice, improving the orderliness of operation and the versatility of the equipment.

[0034] 3. The first and second control mechanisms of the clamping and lifting mechanism can respectively adjust the diagonal spacing and height of the lifting frame, which can adapt to different sizes of bagged rice within a certain range, and has a wide range of applicability. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0036] Figure 1 This is a schematic diagram of the structure of the present invention;

[0037] Figure 2 For the present invention Figure 1 A structural schematic diagram from a side view;

[0038] Figure 3 This is an exploded view of the guiding mechanism of the present invention;

[0039] Figure 4 This is a schematic diagram of the material blocking mechanism of the present invention;

[0040] Figure 5 This is a top view of the internal components of the first and second mounting slots of the present invention.

[0041] Figure 6 For the present invention Figure 5 A structural diagram viewed from below;

[0042] Figure 7 For the present invention Figure 5Schematic diagram of the internal components of the cross-section;

[0043] Figure 8 This is a schematic diagram of the structure of some components of the clamping and lifting mechanism of the present invention;

[0044] Figure 9 For the present invention Figure 8 Exploded view.

[0045] In the diagram: Conveying equipment - 100; Equipment frame - 101; Conveyor belt - 102; Fixed frame - 103; Fixed cylinder - 104; Adjusting rod - 105; Limiting plate - 106; Mounting port - 107; Limiting wheel - 108; Protective sleeve - 109; Protective layer - 110; Connecting plate - 111; Push-pull handle - 112; Locking screw - 113; Fixed plate - 114; Electric push rod - 115; Blocking rod - 116; Protective sleeve - 117; Adjusting port - 118; Adjusting plate - 119; Locking bolt - 120; Weighing mechanism - 200; Loading platform - 201; Weighing device - 202; Six-axis robotic arm - 300; Clamping and lifting mechanism - 400; Mounting plate - 401; First mounting slot - 402; Second mounting slot - 403; First Self-locking screw - 404; Moving block - 405; Rotating cylinder - 406; Second self-locking screw - 407; Lifting frame - 408; Fixed rod - 409; Transmission bevel gear - 410; Side plate - 411; Linkage bevel gear - 412; First guide slide rod - 413; First servo motor - 414; Active bevel gear - 415; First heat dissipation hole - 416; Worm gear - 417; Bracket - 418; Rotating rod - 419; Worm gear - 420; Spline rod - 421; Transmission rod - 422; Spline groove - 423; Linkage bevel gear - 424; Transmission bevel gear - 425; Second guide slide rod - 426; Through port - 427; Second servo motor - 428; Active bevel gear - 429; Second heat dissipation hole - 430; Stacking table - 500. Detailed Implementation

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0048] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0050] Please see Figures 1-9 The diagram shows a structural schematic of an embodiment of an automatic conveying and palletizing device for packaged rice according to the present invention. Please refer to [link / reference]. Figures 1-9 This paper provides a detailed introduction to an automatic conveying and palletizing device for packaged rice.

[0051] Example 1: An automatic conveying and palletizing device for packaged rice includes a conveying device 100, a weighing mechanism 200, a six-axis robotic arm 300, a clamping and lifting mechanism 400, and a palletizing table 500. These components work together to complete the conveying, weighing, gripping, and palletizing of the packaged rice. The specific structure is as follows:

[0052] The conveying equipment 100 is used to smoothly convey bagged rice, including an equipment frame 101 and a conveyor belt 102 set on the equipment frame 101, which provides conveying power for the bagged rice;

[0053] The weighing mechanism 200 is located at the end of the running path of the conveyor belt 102 and is used to receive and weigh the bagged rice conveyed by the conveyor belt 102. It includes a support platform 201 and a weighing device 202 located on top of the support platform 201. The height of the weighing device 202 is not higher than the conveyor belt 102. This height design facilitates the smooth transition of the bagged rice from the conveyor belt 102 to the weighing device 202, making it convenient for weighing.

[0054] The six-axis robotic arm 300 is located on one side near the load-bearing platform 201. It is used to drive the clamping and lifting mechanism 400 to clamp and lift the bagged rice from the weighing device 202 and stack the bagged rice onto the stacking platform 500. The six-axis robotic arm 300 has a flexible movement trajectory, which can be adapted to different stacking methods, thereby improving the flexibility and efficiency of the stacking operation.

[0055] Example 2, based on Example 1, includes a guiding mechanism on the equipment frame 101 for guiding bagged rice during transport. The guiding mechanism comprises several fixed frames 103 symmetrically arranged on the front and rear sides of the equipment frame 101. Each fixed frame 103 is L-shaped in side view, with a hollow fixed cylinder 104 fixedly mounted on its top. An adjusting rod 105 is slidably mounted inside each fixed cylinder 104. Two limiting plates 106 are fixedly mounted on the end of the adjusting rods 105 closest to the conveyor belt 102, located above the conveyor belt 102 and parallel to it along the conveyor belt's running path. The sliding adjusting rods 105 can flexibly adjust the distance between the two limiting plates 106, which helps to... To accommodate rice bags of different widths and improve equipment versatility, each limiting plate 106 has an installation opening 107 on its side wall. A limiting wheel 108 is rotatably mounted on the inner side of the installation opening 107 via a rotating shaft. A protective sleeve 109 protruding from the outer surface of the limiting plate 106 is fixedly fitted on the outer side wall of the limiting wheel 108. The limiting wheel 108 can reduce friction between the bagged rice and the limiting plate 106, and the protective sleeve 109 can further reduce the risk of packaging bag wear. The sides of the two limiting plates 106 are folded outward near the ends to form a "trumpet opening" shape. The surface of the folded position is smooth and the end is fixedly provided with a protective layer 110. This structure facilitates the smooth entry of bagged rice between the two limiting plates 106 and reduces jamming during the initial conveying process.

[0056] The other ends of the adjusting rods 105 in the same row are all fixedly provided with a connecting plate 111 parallel to the limiting plate 106. A push-pull handle 112 is fixedly provided on the side of the connecting plate 111 away from the adjusting rod 105. A locking screw 113 is screwed through the top of each fixed cylinder 104. The locking screw 113 is used to press down and fix the adjusting rod 105. The push-pull handle 112 makes it convenient for the operator to manually adjust the position of the adjusting rod 105. The locking screw 113 can ensure the stability of the position of the limiting plate 106 after adjustment and improve the guiding accuracy.

[0057] In Example 3, based on Example 1, the top of the equipment frame 101 is located at the end of the conveyor belt 102's running path and is equipped with a blocking mechanism for blocking / releasing bagged rice. This mechanism includes fixed plates 114 symmetrically mounted on the front and rear sides of the top of the equipment frame 101. Each fixed plate 114 is equipped with an electric push rod 115. The extension direction of the extension end of the electric push rod 115 is perpendicular to the running direction of the conveyor belt 102. A blocking rod 116 is fixedly mounted on the extension end, and a protective sleeve 117 is fixedly fitted on the outside of the blocking rod 116. The electric push rod 115 drives the blocking rod 116 to extend and retract, cooperating with the conveyor equipment 100 to control the release of bagged rice one by one, facilitating the orderly conduct of subsequent weighing operations. The protective sleeve 117 can reduce the squeezing damage of the packaging bag by the blocking rod 116.

[0058] Each fixed plate 114 has an adjustment port 118 on its upper and lower walls along the running direction of the conveyor belt 102. An adjustment plate 119 is fixedly installed at the bottom of the housing of the electric push rod 115. The adjustment plate 119 is located on the top of the fixed plate 114 and can slide along the opening direction of the adjustment port 118. A locking bolt 120 is provided on the top of each adjustment plate 119 and the bottom of the fixed plate 114. The outer side of the locking bolt 120 passes vertically through the adjustment port 118 to lock the adjustment plate 119. The cooperation between the adjustment plate 119 and the adjustment port 118 can adjust the front and rear positions of the electric push rod 115 and the blocking rod 116, further improving the adaptability of the equipment to different sizes of bagged rice.

[0059] Example 4, based on Example 1, the clamping and lifting mechanism 400 includes a rectangular mounting plate 401 fixedly connected to the output end of the six-axis robotic arm 300. A circular first mounting groove 402 is formed at the center of the inner cavity of the mounting plate 401. Second mounting grooves 403 are formed at the four vertices of the mounting plate 401 and the inner side of the first mounting groove 402. The inner cavity of the second mounting groove 403 communicates with the inner cavity of the first mounting groove 402. A first self-locking screw 404 is rotatably mounted on the inner side of each second mounting groove 403 via a bearing. The extension lines of the four first self-locking screws 404 coincide with the center of the first mounting groove 402 and the vertices of the mounting plate 401, respectively. The inner side of each second mounting groove 403 is aligned with the first self-locking screw 404. A movable block 405 is slidably provided along the axial direction of the self-locking screw 404. The shaft of the first self-locking screw 404 is screwed through the side wall of the movable block 405. A hollow rotating cylinder 406 is rotatably provided through the upper and lower walls of each movable block 405 via bearings. A vertical second self-locking screw 407 is screwed through the inner side of the rotating cylinder 406. The lower end of each second self-locking screw 407 is located below the mounting plate 401 and is fixedly provided with a lifting frame 408. The lifting frame 408 is used to lift the bottom "diagonal" position of the bagged rice. Its end near the bottom center of the mounting plate 401 is a smooth slope and is fixedly provided with a protective layer. This slope design makes it easy for the lifting frame 408 to be smoothly inserted into the bottom of the bagged rice and reduces scratching of the packaging bag.

[0060] The clamping and lifting mechanism 400 also includes a first control mechanism and a second control mechanism, wherein: the first control mechanism is used to synchronously control the distance between the four lifting frames 408 and the center point of the first mounting groove 402, so as to adapt to bags of rice with different "diagonal" lengths;

[0061] The second control mechanism is used to synchronously control the distance between the top of the four support frames 408 and the bottom of the mounting plate 401 to accommodate bags of rice of different "thicknesses".

[0062] In Example 5, based on Example 4, a vertical fixing rod 409 is fixedly installed at the center of the bottom wall of the inner cavity of the first mounting groove 402. The first control mechanism includes a transmission bevel gear 410 rotatably mounted on the outside of the fixing rod 409 via a bearing. A side plate 411 is fixedly installed on the inner side of each second mounting groove 403. A first self-locking screw 404 rotatably passes through the side wall of the side plate 411 via a bearing. A linkage bevel gear 412 is fixedly installed at the end of the first self-locking screw 404 near the transmission bevel gear 410, and the linkage bevel gear 412 meshes with the transmission bevel gear 410. A first guide slide rod 413 parallel to the first self-locking screw 404 is fixedly disposed between 411 and the second mounting groove 403. The rod body of the first guide slide rod 413 slides through the side wall of the movable block 405 via a linear bearing. The first control mechanism also includes a first servo motor 414 fixedly disposed in the inner cavity of the first mounting groove 402. An active bevel gear 415 is fixedly disposed on the output shaft of the first servo motor 414. The active bevel gear 415 meshes with the transmission bevel gear 410. First heat dissipation holes 416 are evenly opened on the inner and outer sides of the mounting plate 401 near the position of the first servo motor 414.

[0063] During operation, the first servo motor 414 drives the active bevel gear 415 to rotate, which in turn drives the four linked bevel gears 412 to rotate synchronously via the transmission bevel gear 410. This, in turn, causes the four first self-locking screws 404 to rotate synchronously. Under the action of the first self-locking screws 404 and the first guide slide rod 413, the movable block 405 moves synchronously closer to or further away from the center of the first mounting groove 402, realizing the synchronous adjustment of the diagonal spacing of the four lifting frames 408. The adjustment process is smooth and has good synchronization, which helps to improve the fitting accuracy of bagged rice with different diagonal lengths. The first heat dissipation hole 416 can dissipate the heat generated by the first servo motor 414 during operation in a timely manner, extending the service life of the motor.

[0064] In Example 6, based on Example 5, the second control mechanism includes a worm gear 417 fixed to the outside of the rotating cylinder 406, a bracket 418 fixedly mounted on the top of the movable block 405, a rotating rod 419 parallel to the first self-locking screw 404 rotatably mounted on the side wall of the bracket 418 via bearings, a worm gear 420 coaxial with itself mounted on the rod body of the rotating rod 419, the worm gear 420 meshing with the worm gear 417 and self-locking; and a coaxial worm gear 420 fixedly mounted on one end of the rotating rod 419 near the center of the first mounting groove 402. The spline rod 421 has a hollow transmission rod 422 coaxial with it, which is rotatably mounted on the side wall of the side plate 411 via a bearing. A spline groove 423 is formed at one end of the transmission rod 422 away from the center of the first mounting groove 402, and the spline rod 421 slides into the spline groove 423. A linkage bevel gear 424 is fixedly mounted at the other end of the transmission rod 422 near the center of the first mounting groove 402. There are four linkage bevel gears 424 in total. A transmission rod is rotatably mounted on the outer side of the fixed rod 409 via a bearing. A bevel gear 425 is used for transmission, meshing with four linked bevel gears 424. A vertical second guide rod 426 is fixedly installed at the top of each lifting frame 408. The second guide rod 426 is parallel to the second self-locking screw 407, and its body slides through the upper and lower side walls of the movable block 405 via a linear bearing. The first self-locking screw 404, the first guide rod 413, the second self-locking screw 407, and the second guide rod 426 are staggered. The inner and outer side walls of the mounting plate 401 have through-holes. The opening 427 allows the second self-locking screw 407 and the second guide slide 426 to move, and is opened along the movement direction of the movable block 405; the second control mechanism also includes a second servo motor 428 fixedly installed in the inner cavity of the first mounting groove 402, the output shaft of the second servo motor 428 is fixedly provided with an active bevel gear 429, the active bevel gear 429 meshes with the transmission bevel gear 425, and the mounting plate 401 has second heat dissipation holes 430 evenly opened on the inner and outer sides near the second servo motor 428;

[0065] When the second servo motor 428 drives the active bevel gear 429 to rotate, it drives the four linked bevel gears 424 to rotate synchronously through the transmission bevel gear 425. This causes the transmission rod 422, spline rod 421, rotating rod 419, and worm gear 420 to rotate synchronously. The worm gear 420 drives the worm wheel 417 and the rotating cylinder 406 to rotate. Under the action of the rotating cylinder 406 and the second guide slide rod 426, the second self-locking screw 407 drives the lifting frame 408 to move up and down, realizing the synchronous adjustment of the height of the four lifting frames 408. The sliding fit between the spline rod 421 and the spline groove 423 ensures stable power transmission when the movable block 405 moves with the first control mechanism, without affecting the adjustment effect. The self-locking characteristics of the worm gear 420 and the worm wheel 417 enable the lifting frame 408 to stay stably at different height positions, improving the safety and stability of the palletizing process. The second heat dissipation hole 430 can effectively dissipate the heat of the second servo motor 428 during operation, which is conducive to ensuring the long-term stable operation of the motor.

[0066] The electrical control method of this device is supplemented below. The electrically powered components of the equipment, such as the drive unit of the conveyor 100, the electric push rod 115, the first servo motor 414, the second servo motor 428, the six-axis robotic arm 300, and the weighing device 202, are all controlled by an integrated control system. This control system is based on a programmable logic controller (PLC), and includes a signal acquisition module, an actuator drive module, and a human-machine interface. The specific control logic is as follows: The control system receives real-time weight data from the weighing device 202 and status signals from the position sensors of each mechanism through the signal acquisition module, while simultaneously collecting feedback on the operating status of the conveyor 100. Operators can input the specifications of the bagged rice, such as the "diagonal" length and "thickness," and the stacking mode, such as the quantity per layer and the stacking height, through the human-machine interface. They can also directly issue start and stop commands for the conveyor 100 through the interface. All commands are transmitted to the PLC main control unit. The PLC automatically issues control commands based on the preset program and input parameters, achieving full-process collaborative operation.

[0067] During operation, the PLC first drives the drive unit of the conveyor 100 to start the conveyor belt 102. After the equipment runs stably, the linkage retaining mechanism releases the bagged rice. When there are bagged rice on the weighing device 202 that have not been picked up, or when the palletizing platform 500 reaches the preset palletizing height and needs to be replaced, the PLC can automatically control the conveyor 100 to stop running to avoid the bagged rice from piling up or congesting. After weighing and picking are completed, the PLC controls the conveyor 100 to start again, and coordinates with the extension and retraction rhythm of the electric push rod 115 to release the bagged rice one by one.

[0068] When picking up the weighed bag of rice, the PLC first controls the six-axis robotic arm 300 to move the lifting frame 408 to the bottom of the bag of rice. Then, it controls the first servo motor 414 to move, and simultaneously controls the inclined surfaces of the four lifting frames 408 to move towards the bag of rice until they are inserted into the bottom of the bag of rice. The PLC then controls the first servo motor 414 to move, so that the four lifting frames 408 rise synchronously, so that the top of the bag of rice contacts the bottom of the mounting plate 401. In addition, the bottom of the bag of rice contacts the top of the four lifting frames 408, so that the bag of rice is firmly clamped. Then, the PLC controls the six-axis robotic arm 300 to transport the bag of rice to the palletizing table 500 for palletizing.

[0069] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic conveying and palletizing device for packaged rice, comprising a conveying device (100), a weighing mechanism (200), a six-axis robotic arm (300), a clamping and lifting mechanism (400), and a palletizing table (500), characterized in that: The conveying equipment (100) is used to convey bagged rice and includes a frame (101) and a conveyor belt (102) set on the frame (101). The weighing mechanism (200) is located at the end of the running path of the conveyor belt (102) and is used to receive and weigh the bagged rice conveyed by the conveyor belt (102). It includes a support platform (201) and a weighing device (202) located on the top of the support platform (201) at a height not higher than the conveyor belt (102). The six-axis robotic arm (300) is located on the side near the load-bearing platform (201) and is used to drive the clamping and lifting mechanism (400) to clamp and lift the bagged rice from the weighing device (202) and stack the bagged rice onto the stacking platform (500).

2. The automatic conveying and palletizing equipment for packaged rice according to claim 1, characterized in that: The equipment frame (101) is provided with a guiding mechanism for guiding bagged rice during transportation; The guiding mechanism includes several fixed frames (103) symmetrically fixed on the front and rear sides of the equipment frame (101). The fixed frames (103) are L-shaped in the side view and have a hollow fixed cylinder (104) fixedly installed on their top. An adjusting rod (105) is slidably installed on the inner side of each fixed cylinder (104). The adjusting rods (105) in the same row are fixedly installed with a limit plate (106) at the end near the conveyor belt (102). There are two limit plates (106) in total, located above the conveyor belt (102). The limit plates (106) are arranged parallel to the running path of the conveyor belt (102). The sliding adjusting rod (105) is used to adjust the distance between the two limit plates (106). Each of the limiting plates (106) has an installation opening (107) on its side wall. A limiting wheel (108) is provided on the inner side of the installation opening (107) via a rotating shaft. A protective sleeve (109) protruding from the outer surface of the limiting plate (106) is fixedly sleeved on the outer side wall of the limiting wheel (108). The sides of the two limiting plates (106) are folded outward near the end positions, and together they form a "trumpet opening" shape. The surface of the folded position of the limiting plate (106) is smooth and the end is fixedly provided with a protective layer (110).

3. The automatic conveying and palletizing equipment for packaged rice according to claim 2, characterized in that: The other ends of the adjusting rods (105) in the same row are fixedly provided with a connecting plate (111) parallel to the limiting plate (106). A push-pull handle (112) is fixedly provided on the side of the connecting plate (111) away from the adjusting rod (105). A locking screw (113) for pressing down and fixing the adjusting rod (105) is screwed through the top of each fixing cylinder (104).

4. The automatic conveying and palletizing equipment for packaged rice according to claim 1, characterized in that: The top of the equipment frame (101) is located at the end of the running path of the conveyor belt (102) and is equipped with a material blocking mechanism for blocking / releasing bagged rice. The material blocking mechanism includes fixed plates (114) symmetrically arranged on the front and rear sides of the top of the equipment frame (101). Each fixed plate (114) is equipped with an electric push rod (115). The extension direction of the extension end of the electric push rod (115) is perpendicular to the running direction of the conveyor belt (102). A blocking rod (116) is fixedly arranged on the extension end of the electric push rod (115). A protective sleeve (117) is fixedly sleeved on the outside of the blocking rod (116).

5. An automatic conveying and palletizing device for packaged rice according to claim 4, characterized in that: Each of the fixed plates (114) has an adjustment port (118) on its upper and lower walls along the running direction of the conveyor belt (102). An adjustment plate (119) is fixedly installed at the bottom of the outer shell of the electric push rod (115). The adjustment plate (119) is located on the top of the fixed plate (114) and slides along the opening direction of the adjustment port (118). A locking bolt (120) for locking the adjustment plate (119) is provided on the top of each adjustment plate (119) and the bottom of the fixed plate (114). The outer side of the locking bolt (120) vertically penetrates the adjustment port (118).

6. The automatic conveying and palletizing equipment for packaged rice according to claim 1, characterized in that: The clamping and lifting mechanism (400) includes a rectangular mounting plate (401) fixedly connected to the output end of a six-axis robotic arm (300). A circular first mounting groove (402) is formed at the center of the inner cavity of the mounting plate (401). Second mounting grooves (403) are formed at the four vertices of the inner side of the first mounting groove (402) and the interior of the mounting plate (401). The inner cavity of the second mounting groove (403) communicates with the inner cavity of the first mounting groove (402). The inner side of the second mounting groove (403) is provided with a first self-locking screw (404) through a bearing. The extension lines of the four first self-locking screws (404) coincide with the center of the first mounting groove (402) and the vertex of the mounting plate (401). The inner side of each second mounting groove (403) is provided with a movable block (405) along the axial direction of the first self-locking screw (404). The rod of the first self-locking screw (404) is screwed through the side wall of the movable block (405). Each of the movable blocks (405) has a hollow rotating cylinder (406) rotatably installed through the upper and lower walls via bearings. A vertical second self-locking screw (407) is screwed through the inner side of the rotating cylinder (406). The lower end of each second self-locking screw (407) is located below the mounting plate (401) and is fixedly provided with a lifting frame (408) for supporting the bottom "diagonal" position of the bagged rice. The end of the lifting frame (408) near the bottom center of the mounting plate (401) has a smooth slope and is fixedly provided with a protective layer.

7. The automatic conveying and palletizing equipment for packaged rice according to claim 1, characterized in that: The clamping and lifting mechanism (400) also includes a first control mechanism and a second control mechanism; The first control mechanism is used to synchronously control the distance between the four lifting frames (408) and the center point of the first mounting groove (402) to adapt to bagged rice of different "diagonal" lengths; The second control mechanism is used to synchronously control the distance between the top of the four support frames (408) and the bottom of the mounting plate (401) to accommodate bagged rice of different "thicknesses".

8. An automatic conveying and palletizing device for packaged rice according to claim 7, characterized in that: A vertical fixing rod (409) is fixedly installed at the center of the bottom wall of the inner cavity of the first mounting groove (402). The first control mechanism includes a transmission bevel gear (410) that is rotatably installed on the outside of the rod body of the fixing rod (409) via a bearing. A side plate (411) is fixedly installed on the inner side of each second mounting groove (403). The rod body of the first self-locking screw (404) passes through the side wall of the side plate (411) via a bearing. A linkage bevel gear (412) that meshes with the transmission bevel gear (410) is fixedly installed at one end of the first self-locking screw (404) near the transmission bevel gear (410). A first guide slide rod (413) parallel to the first self-locking screw (404) is fixedly provided between the side plate (411) and the second mounting groove (403). The rod body of the first guide slide rod (413) slides through the side wall of the movable block (405) through a linear bearing. The first control mechanism further includes a first servo motor (414) fixedly installed in the inner cavity of the first mounting groove (402). The output shaft of the first servo motor (414) is fixedly provided with an active bevel gear (415) that meshes with the transmission bevel gear (410). The mounting plate (401) has first heat dissipation holes (416) evenly opened on the inner and outer sides near the first servo motor (414).

9. An automatic conveying and palletizing device for packaged rice according to claim 8, characterized in that: The second control mechanism includes a worm gear (417) fixed on the outside of the rotating cylinder (406), a bracket (418) fixedly installed on the top of the movable block (405), a rotating rod (419) arranged parallel to the first self-locking screw (404) rotatably installed on the side wall of the bracket (418) through a bearing, a worm gear (420) arranged coaxially with itself on the rod body of the rotating rod (419), the worm gear (420) meshing with the worm gear (417) and self-locking; The rotating rod (419) is fixedly provided with a spline rod (421) coaxial with itself at one end near the center of the first mounting groove (402). The side wall of the side plate (411) is rotatably provided with a hollow transmission rod (422) coaxial with the spline rod (421) through a bearing. The end of the transmission rod (422) away from the center of the first mounting groove (402) is provided with a spline groove (423) that slides with the spline rod (421). The other end of the transmission rod (422) is close to the center of the first mounting groove (402) and is fixedly provided with a linkage bevel gear (424). There are four linkage bevel gears (424). The outer side of the fixed rod (409) is rotatably provided with a transmission bevel gear (425) that meshes with the four linkage bevel gears (424) through a bearing. Each of the lifting frames (408) is fixedly provided with a vertical second guide slide rod (426) at its top end. The second guide slide rod (426) is arranged parallel to the second self-locking screw (407), and the rod body of the second guide slide rod (426) slides through the upper and lower side walls of the movable block (405) through a linear bearing. The first self-locking screw (404), the first guide slide (413) and the second self-locking screw (407) and the second guide slide (426) are arranged alternately. The inner and outer walls of the mounting plate (401) are provided with openings (427) for the second self-locking screw (407) and the second guide slide (426) to move. The openings (427) are opened along the movement direction of the movable block (405). The second control mechanism also includes a second servo motor (428) fixedly installed in the inner cavity of the first mounting groove (402). The output shaft of the second servo motor (428) is fixedly provided with an active bevel gear (429) that meshes with the bevel gear (425). The mounting plate (401) has second heat dissipation holes (430) evenly opened on the inner and outer sides near the second servo motor (428).

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