Agricultural product storage stacking device

Abstract

The invention relates to the technical field of stacking devices, and discloses an agricultural product storage stacking device which comprises a ground rail and a pneumatic gripper assembly, a door-shaped support is slidably arranged at the top of the ground rail, a top sliding plate is slidably arranged on a top cross beam of the door-shaped support, and lifting oil cylinders are fixed to the two sides of the top of the top sliding plate; a lifting oil cylinder is fixed to the bottom end of the lifting oil cylinder, a lifting top plate is fixed to the bottom end of a piston rod of the lifting oil cylinder, a connecting column is fixed to the bottom face of the lifting top plate, a connecting plate is fixed to the bottom end of the connecting column, and a rotating sleeve is rotationally arranged at the bottom of the connecting plate. The device is suitable for bagged agricultural products, agricultural products needing to be cleaned and soft easily-damaged agricultural products, non-damage grabbing of the soft agricultural products is achieved, and extrusion damage is eradicated. And an air blowing assembly can clean impurities on the surfaces of the agricultural products, the grabbing stability is further improved, and the problem that a traditional single gripper is poor in adaptability is solved.

Description

Technical Field

[0001] This invention relates to the field of palletizing equipment technology, specifically to an agricultural product storage and palletizing equipment. Background Technology

[0002] Agricultural product storage and palletizing equipment is designed specifically for grains, fruits and vegetables, and bagged or boxed agricultural products. It is an automated system that completes the automatic stacking, neat stacking, and storage positioning from the conveyor line to the pallet. It is suitable for agricultural storage scenarios such as normal temperature, cold chain, high humidity, and dust.

[0003] For example, an existing Chinese patent (CN222348190U) discloses an agricultural product storage and palletizing device, including a gantry frame. A conveying platform is installed on one side of the gantry frame, and a placement platform is fixedly connected to the side of the gantry frame away from the conveying platform. The placement platform is equipped with a clamping assembly, which includes a movable plate and an auxiliary clamping plate. The top of the placement platform has four sets of sliding grooves arranged in a rectangular array. The movable plate is movably installed in the corresponding sliding groove, and the top of the movable plate is detachably connected to the auxiliary clamping plate. A palletizing assembly is installed on the gantry frame. This utility model, by using the clamping assembly on the placement platform in conjunction with the palletizing assembly, can clamp and limit the packaging bags containing agricultural products during the palletizing process, preventing the packaging bags from slipping due to their smooth surface, and thus avoiding the need for secondary palletizing, which reduces palletizing efficiency.

[0004] Existing agricultural product storage and palletizing equipment often uses grippers to pick up bagged agricultural products. However, these grippers are not well-suited for irregularly shaped, fragile, or soft agricultural products such as strawberries, broccoli, and cotton bales. Traditional grippers are prone to squeezing, breaking, and slipping. When switching agricultural product types, manual adjustment of gripper parameters or replacement of the gripper is required, which is time-consuming and difficult to meet the needs of mixing multiple categories of small batches. Summary of the Invention

[0005] The purpose of this invention is to provide an agricultural product storage and palletizing device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an agricultural product storage and palletizing device, comprising: a ground rail and a pneumatic gripper assembly, wherein a gantry-shaped bracket is slidably mounted on the top of the ground rail, a top slide plate is slidably mounted on the top crossbeam of the gantry-shaped bracket, lifting cylinders are fixed on both sides of the top of the top slide plate, a lifting top plate is fixed at the bottom end of the piston rod of the lifting cylinder, a connecting column is fixed on the bottom surface of the lifting top plate, a connecting plate is fixed at the bottom end of the connecting column, a rotating sleeve is rotatably mounted at the bottom of the connecting plate, a rotating sleeve bottom plate is fixed at the bottom end of the rotating sleeve, a rotating plate is rotatably mounted on the outer periphery of the rotating sleeve bottom plate, there are at least three rotating plates, the three rotating plates are evenly arranged on the outer side of the rotating plate, and a pneumatic gripper assembly, an air blowing assembly, and a suction cup assembly are respectively mounted on one end of the three rotating plates.

[0007] Preferably, a T-slot profile is fixed to one end of the bottom of each of the three rotating plates.

[0008] Preferably, the pneumatic gripper assembly includes a gripper mounting plate, a gripper cylinder is rotatably mounted on one side of the top of the gripper mounting plate, a rotating arm is rotatably mounted on one end of the piston rod of the gripper cylinder, a rotating shaft is fixed at the bottom end of the rotating arm, the two ends of the rotating shaft are connected to the gripper mounting plate through bearing seats, fixed arms are fixed at both ends of the rotating shaft, a fixed plate is fixed between the fixed arms, a gripper claw is fixed on one side of the fixed plate, a pressing cylinder is fixed on one side of the top of the gripper mounting plate, and a pressure plate is fixed at the bottom end of the piston rod of the pressing cylinder.

[0009] Preferably, the gripper mounting plate is connected to the T-slot profile by T-bolts, and there are multiple grippers, which are arranged at equal intervals on the fixing plate.

[0010] Preferably, the air blowing assembly includes an air blowing pipe and air blowing nozzles, the air blowing pipe is fixed to the T-slot profile, and air blowing nozzles are equidistantly arranged at the bottom of the air blowing pipe.

[0011] Preferably, the suction cup assembly includes a negative pressure vacuum suction cup, and a plurality of the negative pressure vacuum suction cups are equidistantly installed on the bottom of the T-groove profile, and the negative pressure vacuum suction cups are connected to the T-groove profile by T-bolts.

[0012] Preferably, wheel frames are fixed at both ends of the bottom of the gantry bracket, and a drive wheel is rotatably connected inside the wheel frame. The drive wheel has a wheel groove that matches the ground rail. A drive wheel motor is fixed on one side of the outer wall of the wheel frame, and one end of the output shaft of the drive wheel motor is fixed to the center of the drive wheel.

[0013] Preferably, a groove is provided in the center of the top crossbeam of the portal frame, and the top slide plate can slide on the portal frame through the groove. Two parallel racks are provided on both sides of the top crossbeam of the portal frame. A first servo motor is fixed on both sides of the top of the top slide plate. A first gear is fixed at the bottom of the output shaft of the first servo motor, and the first gear meshes with the rack.

[0014] Preferably, a fixed gear ring is fixed to the inner wall of the upper half of the rotating sleeve, a second servo motor is fixed to one side of the top of the connecting plate, a second gear is fixed to the bottom of the output shaft of the second servo motor, and the second gear meshes with the second servo motor.

[0015] Preferably, the bottom of the lifting top plate is fixed with an upper connecting seat, the center of the top of the rotating plate is fixed with a lower connecting seat, a telescopic cylinder is hinged between the upper connecting seat and the lower connecting seat, a hinge is provided between the rotating plate and the rotating sleeve base plate, a limit plate is fixed on one side of the bottom of the rotating sleeve base plate, and a relief groove is opened on the top of the limit plate below the hinge. When the rotating plate is in a horizontal state, the bottom surface of the rotating plate is in contact with the top surface of the limit plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention employs three different gripping and cleaning components—a pneumatic gripper assembly, an air blowing assembly, and a suction cup assembly—to adapt to bagged agricultural products, agricultural products requiring cleaning, and soft, fragile agricultural products, respectively. The pneumatic gripper assembly, with its multiple equally spaced claws and pressing structure, ensures stable gripping of bagged agricultural products, preventing slippage and compression. The suction cup assembly uses vacuum adsorption to achieve damage-free gripping of soft agricultural products, eliminating crushing and breakage. The air blowing assembly cleans impurities from the surface of agricultural products, further improving gripping stability and solving the problem of poor adaptability associated with traditional single grippers. By rotating the rotating sleeve and unfolding and retracting the rotating plate, three gripping and cleaning components can be quickly switched without the need for manual replacement of grippers or adjustment of complex parameters. The changeover time is greatly shortened, which can easily meet the needs of mixed packing of multiple categories and small batches, improve the flexibility and efficiency of warehouse palletizing, and solve the problems of cumbersome changeover and low efficiency of traditional equipment. The entire device automates the grabbing, cleaning, and palletizing of agricultural products, eliminating the need for manual grabbing, gripper replacement, and parameter adjustment, thus significantly reducing labor intensity. At the same time, the coordinated operation of each component avoids errors and inefficiencies associated with manual operation, significantly improving the efficiency and quality of agricultural product storage and palletizing. It is suitable for large-scale, multi-category agricultural product storage scenarios.

[0017] The parts of the device not covered herein are the same as or can be implemented using existing technologies. Attached Figure Description

[0018] Figure 1 This is a perspective view of an agricultural product storage and palletizing device according to the present invention; Figure 2 This is a perspective view of an agricultural product storage and palletizing device according to the present invention. Figure 3 for Figure 2 Enlarged structural diagram at point A in the middle; Figure 4 This is a perspective view of another aspect of the agricultural product storage and palletizing device of the present invention; Figure 5 This is an enlarged schematic diagram of the rotating connection structure of an agricultural product storage and palletizing device according to the present invention; Figure 6This is a main sectional view of the rotating connection structure of an agricultural product storage and palletizing device according to the present invention; Figure 7 for Figure 6 Enlarged structural diagram at point B; Figure 8 for Figure 6 Enlarged structural diagram at point C; Figure 9 This is a schematic diagram of the connection structure of the pneumatic gripper assembly of an agricultural product storage and palletizing device according to the present invention; Figure 10 This is an enlarged structural schematic diagram of the pneumatic gripper assembly of an agricultural product storage and palletizing device according to the present invention; Figure 11 This is an enlarged structural schematic diagram of the pneumatic gripper assembly of an agricultural product storage and palletizing device according to the present invention from another perspective.

[0019] In the diagram: 1. Ground rail; 2. Gantry bracket; 3. Wheel frame; 4. Drive wheel motor; 5. Drive wheel; 6. Slide rail; 7. Rack; 8. Top slide plate; 9. Lifting cylinder; 10. First servo motor; 11. First gear; 12. Lifting top plate; 13. Connecting column; 14. Connecting plate; 15. Rotating sleeve; 16. Rotating sleeve base plate; 17. Upper connecting seat; 18. Telescopic cylinder; 19. Lower connecting seat; 20. Rotating plate; 21. Hinge; 22. Limiting plate; 3. Pneumatic gripper assembly; 24. Air blowing assembly; 25. Suction cup assembly; 26. Retraction groove; 27. Second servo motor; 28. Second gear; 29. ​​Fixed gear ring; 30. T-slot profile; 31. Air blowing pipe; 32. Air blowing nozzle; 33. Negative pressure vacuum suction cup; 34. Gripper mounting plate; 35. Gripper cylinder; 36. Rotating arm; 37. Rotating shaft; 38. Fixed arm; 39. Fixed plate; 40. Gripper; 41. Pressing cylinder; 42. Pressing plate. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Example 1: Please refer to Figures 1-4This invention provides a technical solution: an agricultural product storage and palletizing device, comprising: a ground rail 1 and a pneumatic gripper assembly 23. A gantry-shaped support 2 is slidably mounted on the top of the ground rail 1, providing a stable horizontal track for the gantry-shaped support 2, ensuring that the gantry-shaped support 2 can slide smoothly along the ground rail 1, enabling the palletizing device to move over a wide range within the storage space, covering different pallet positions. This allows for flexible horizontal movement of the gantry-shaped support 2, providing an adjustable operating range for the palletizing device, adapting to different sizes of storage spaces and pallet layouts, while ensuring stability during movement and preventing the grasped agricultural products from falling or shifting position due to shaking. A top sliding plate 8 is slidably mounted on the top crossbeam of the gantry-shaped support 2, further expanding the operating coverage of the palletizing device. It allows for flexible adjustment of the lateral position of the grasping and palletizing, adapting to pallets of different widths and pallet types, while ensuring the accuracy of the sliding process and preventing lateral shifts from affecting the neatness of the palletizing.

[0022] Lifting cylinders 9 are fixed on both sides of the top of the top slide plate 8. A lifting top plate 12 is fixed to the bottom end of the piston rod of the lifting cylinder 9. A connecting column 13 is fixed to the bottom surface of the lifting top plate 12, and a connecting plate 14 is fixed to the bottom end of the connecting column 13. The lifting cylinders 9 on both sides of the top of the top slide plate 8 serve as the lifting power source. The cylinder body of the lifting cylinder 9 is fixed on the top slide plate 8, and the bottom end of the piston rod is fixedly connected to the lifting top plate 12. When hydraulic oil is introduced into the lifting cylinder 9, the piston rod will drive the lifting top plate 12 to move up and down, thereby driving the connecting column 13, the connecting plate 14, and the gripping assembly below to move up and down synchronously. The gripping height and stacking height can be flexibly adjusted to adapt to pallets of different heights and stacking types with different numbers of layers. At the same time, the lifting process is smooth and controllable, avoiding excessively fast lifting or shaking that could cause agricultural products to fall or break.

[0023] The bottom of the connecting plate 14 is rotatably equipped with a rotating sleeve 15. The bottom end of the rotating sleeve 15 is fixed with a rotating sleeve base plate 16. The outer periphery of the rotating sleeve base plate 16 is equipped with a rotating plate 20. There are at least three rotating plates 20, which are evenly arranged on the outer side of the rotating plate 20. One end of each of the three rotating plates 20 is equipped with a pneumatic gripper assembly 23 for gripping bagged agricultural products, an air blowing assembly 24 for blowing away dust and water stains on the surface of the packaging bag, and a suction cup assembly 25 for vacuum adsorption to pick up and put in soft agricultural products such as strawberries, broccoli, and cotton bales, so as to avoid damage to the internal agricultural products caused by gripping. Three rotating plates 20 are evenly arranged on the outside of the rotating sleeve base plate 16, with an included angle of 120° between two adjacent rotating plates 20. This arrangement allows the three gripping components to be in different directions, so that they do not obstruct or interfere with each other after being unfolded, and can independently complete their respective functions. When it is necessary to grip bagged agricultural products, the rotating plate 20 where the pneumatic gripper component 23 is located can be rotated to the working position. When it is necessary to clean the surface of agricultural products, the rotating plate 20 where the air blowing component 24 is located can be rotated to the working position. When it is necessary to grip soft and fragile agricultural products, the rotating plate 20 where the suction cup component 25 is located can be rotated to the working position. Quick switching can be achieved by rotating the rotating sleeve 15 without the need for manual replacement of grippers or adjustment of parameters. The three rotating plates 20 can be unfolded and retracted. When unfolded, the three components, namely the pneumatic gripper component 23, the air blowing component 24, and the suction cup component 25, can be in working positions respectively, which can be quickly switched according to the type of agricultural products without the need for manual replacement of grippers, greatly shortening the changeover time and meeting the needs of mixing multiple categories and small batches. When retracted, the size of the device can be reduced, making it easy to store and move, and avoiding collisions and damage between the gripping components.

[0024] The rotating sleeve 15 is rotatably mounted on the bottom surface of the connecting plate 14, and the rotating sleeve base plate 16 is fixed to the bottom end of the rotating sleeve 15. The rotating sleeve 15 can rotate around the central axis of the connecting plate 14, thereby driving the rotating sleeve base plate 16 and the rotating plate 20 below it and the gripping component to rotate synchronously, realizing the horizontal rotation of the rotating sleeve base plate 16 and the rotating plate 20 below it and the gripping component. The orientation of the gripping component can be flexibly adjusted to adapt to agricultural product conveying lines and stacking positions in different directions. Without moving the gantry bracket 2 and the top slide plate 8, multi-directional gripping and stacking can be achieved, improving work efficiency. At the same time, the rotation process is precise and stable, avoiding the agricultural products from falling due to excessive rotation.

[0025] Each of the three rotating plates 20 has a T-slot profile 30 fixed to one end of its bottom. The gripper mounting plate 34 of the pneumatic gripper assembly 23, the air blowing pipe 31 of the air blowing assembly 24, and the negative pressure vacuum suction cup 33 of the suction cup assembly 25 are all connected to the T-slot profile 30 via T-bolts. The T-bolts can slide along the groove of the T-slot profile 30. Adjusting the installation position of the assembly and tightening the T-bolts secures the assembly; loosening the T-bolts allows for disassembly. This connection method eliminates the need for welding, making installation and disassembly convenient. If a component malfunctions, it can be quickly disassembled and replaced without affecting the overall operation of the device. Furthermore, the installation position of the pneumatic gripper assembly 23 can be adjusted according to the width of the bagged agricultural products, the installation position of the suction cup assembly 25 can be adjusted according to the size of the soft agricultural products, and the installation position of the air blowing assembly 24 can be adjusted according to the purging requirements, improving the adaptability of the device.

[0026] The pneumatic gripper assembly 23 includes a gripper mounting plate 34. A gripper cylinder 35 is rotatably mounted on one side of the top of the gripper mounting plate 34. A rotating arm 36 is rotatably mounted on one end of the piston rod of the gripper cylinder 35. A rotating shaft 37 is fixed at the bottom end of the rotating arm 36. The two ends of the rotating shaft 37 are connected to the gripper mounting plate 34 through bearing seats. Fixed arms 38 are fixed at both ends of the rotating shaft 37. A fixed plate 39 is fixed between the fixed arms 38. A gripper 40 is fixed on one side of the fixed plate 39. A pressing cylinder 41 is fixed on one side of the top of the gripper mounting plate 34. A pressure plate 42 is fixed at the bottom end of the piston rod of the pressing cylinder 41. The gripper mounting plate 34 in the pneumatic gripper assembly 23 is used to mount various components. The gripper cylinder 35 serves as the power source for the opening and closing of the gripper 40. The piston rod of the gripper cylinder 35 is rotatably connected to the rotating arm 36. The bottom end of the rotating arm 36 is fixed to the rotating shaft 37. Both ends of the rotating shaft 37 are connected to the gripper mounting plate 34 through bearing seats. When the piston rod of the gripper cylinder 35 extends, it pushes the rotating arm 36 to rotate around the rotating shaft 37, thereby driving the fixed arms 38 at both ends of the rotating shaft 37 to rotate. 38 drives the fixed plate 39 and the gripper 40 to retract inward, thereby clamping and gripping the bagged agricultural products; when the piston rod of the gripper cylinder 35 retracts, the rotating arm 36 rotates in the opposite direction, causing the gripper 40 to open outward and release the bagged agricultural products; the pressing cylinder 41 is fixed on the top of the gripper mounting plate 34, and the pressing plate 42 at the bottom of its piston rod can move downward during gripping to press the bagged agricultural products tightly between the grippers 40, preventing the bagged agricultural products from shaking up and down or slipping during the gripping process.

[0027] The gripper mounting plate 34 is connected to the T-slot profile 30 via T-bolts. Multiple grippers 40 are arranged equidistantly on the fixing plate 39. The gripper cylinder 35 and the pressing cylinder 41 are controlled collaboratively by a pneumatic control system. When the gripper cylinder 35 drives the grippers 40 to clamp the bagged agricultural product, the PLC control system activates the pressing cylinder 41, extending its piston rod to press the pressure plate 42 downwards. When it is necessary to release the bagged agricultural product, the PLC control system first retracts the piston rod of the pressing cylinder 41, then retracts the piston rod of the gripper cylinder 35, achieving synchronized action. This ensures a smooth gripping and releasing process, preventing the bagged agricultural product from slipping or breaking due to uncoordinated movements. Simultaneously, the equidistant arrangement of multiple grippers 40 ensures that the gripping force is evenly distributed on the surface of the bagged agricultural product, preventing excessive localized force that could damage the packaging.

[0028] The air blowing assembly 24 includes an air blowing pipe 31 and air blowing nozzles 32. The air blowing pipe 31 is fixed to the T-slot profile 30, and the air blowing nozzles 32 are equidistantly arranged at the bottom of the air blowing pipe 31. The air blowing pipe 31 in the air blowing assembly 24 is fixed on the T-slot profile 30, and the air blowing nozzles 32 equidistantly arranged at the bottom of the air blowing pipe 31 can spray compressed air evenly. When the agricultural product is conveyed to the grabbing position, the rotating plate 20 where the air blowing assembly 24 is located rotates to the working position, compressed air is introduced into the air blowing pipe 31, and the air blowing nozzles 32 spray airflow onto the surface of the agricultural product to blow away dust, water stains and other impurities on the surface. The impurities after blowing can be cleaned through the sewage outlet of the storage floor or a cleaning device to ensure that the surface of the agricultural product is clean. The air blowing assembly 24 and the rotating sleeve 15, along with the lifting cylinder 9, are controlled in a coordinated manner. When the PLC control system detects that the agricultural product has reached the gripping position, it controls the rotating sleeve 15 to rotate, aligning the air blowing assembly 24 with the agricultural product. Simultaneously, it controls the lifting cylinder 9 to adjust the height, ensuring that the air blowing nozzle 32 maintains a suitable distance from the surface of the agricultural product. This ensures effective cleaning while preventing damage from excessive close proximity. After cleaning, the PLC control system controls the rotating sleeve 15 to rotate, switching to the corresponding gripping assembly for gripping. This continuous cleaning and gripping operation improves work efficiency. It effectively cleans dust, water stains, and other impurities from the surface of agricultural products, preventing impurities from adhering to the surface and affecting storage quality. It also prevents impurities from reducing friction between the gripping assembly and the agricultural product, preventing slippage during gripping. This is particularly suitable for agricultural products such as fruits, vegetables, and bagged grains that are prone to impurities, improving palletizing quality.

[0029] The suction cup assembly 25 includes a negative pressure vacuum suction cup 33. Multiple negative pressure vacuum suction cups 33 are equidistantly installed at the bottom of the T-slot profile 30, and are connected to the T-slot profile 30 via T-bolts. The negative pressure vacuum suction cups 33 in the suction cup assembly 25 are fixed to the bottom of the T-slot profile 30 by T-bolts. The negative pressure vacuum suction cups 33 are connected to a vacuum generator. When it is necessary to grasp soft, fragile agricultural products, the rotating plate 20 where the suction cup assembly 25 is located rotates to the working position, and the lifting cylinder 9 drives the suction cup assembly 25 to descend, causing the negative pressure vacuum suction cups 33 to adhere to the surface of the agricultural product. The vacuum generator is activated, extracting the air between the negative pressure vacuum suction cups 33 and the agricultural product, creating a negative pressure. Atmospheric pressure is used to firmly adhere the agricultural product to the negative pressure vacuum suction cups 33, achieving contactless and pressure-free grasping. When it is necessary to release the agricultural product, the vacuum generator stops working, and air is introduced into the negative pressure vacuum suction cups 33 to release the negative pressure, allowing the agricultural product to fall off naturally without damage. The vacuum level of the negative pressure vacuum suction cup 33 is detected in real time by a pressure sensor. The pressure sensor transmits the signal to the PLC control system, which adjusts the vacuum level according to the softness or hardness of the agricultural product. This ensures that the product is firmly adsorbed without deforming or breaking due to excessive vacuum. Simultaneously, the equidistant arrangement of multiple negative pressure vacuum suction cups 33 ensures that the adsorption force is evenly distributed on the surface of the agricultural product, further improving adsorption stability and preventing damage caused by excessive local adsorption force. The lifting and rotating of the suction cup assembly 25 and the start / stop of the vacuum generator are coordinated and controlled by the PLC, ensuring smooth and continuous adsorption, movement, and release. This allows for the non-damaging gripping of soft and fragile agricultural products such as strawberries, broccoli, and cotton bales, avoiding the damage and slippage caused by the squeezing of traditional grippers. It adapts to the gripping needs of soft and irregularly shaped agricultural products, solving the problem of weak adaptability of traditional devices to soft agricultural products.

[0030] Example 2: Please refer to Figures 1-11 This invention provides a technical solution: an agricultural product storage and palletizing device, comprising: a ground rail 1 and a pneumatic gripper assembly 23. A gantry-shaped support 2 is slidably mounted on the top of the ground rail 1, providing a stable horizontal track for the gantry-shaped support 2, ensuring that the gantry-shaped support 2 can slide smoothly along the ground rail 1, enabling the palletizing device to move over a wide range within the storage space, covering different pallet positions. This allows for flexible horizontal movement of the gantry-shaped support 2, providing an adjustable operating range for the palletizing device, adapting to different sizes of storage spaces and pallet layouts, while ensuring stability during movement and preventing the grasped agricultural products from falling or shifting position due to shaking. A top sliding plate 8 is slidably mounted on the top crossbeam of the gantry-shaped support 2, further expanding the operating coverage of the palletizing device. It allows for flexible adjustment of the lateral position of the grasping and palletizing, adapting to pallets of different widths and pallet types, while ensuring the accuracy of the sliding process and preventing lateral shifts from affecting the neatness of the palletizing.

[0031] Lifting cylinders 9 are fixed on both sides of the top of the top slide plate 8. A lifting top plate 12 is fixed to the bottom end of the piston rod of the lifting cylinder 9. A connecting column 13 is fixed to the bottom surface of the lifting top plate 12, and a connecting plate 14 is fixed to the bottom end of the connecting column 13. The lifting cylinders 9 on both sides of the top of the top slide plate 8 serve as the lifting power source. The cylinder body of the lifting cylinder 9 is fixed on the top slide plate 8, and the bottom end of the piston rod is fixedly connected to the lifting top plate 12. When hydraulic oil is introduced into the lifting cylinder 9, the piston rod will drive the lifting top plate 12 to move up and down, thereby driving the connecting column 13, the connecting plate 14, and the gripping assembly below to move up and down synchronously. The gripping height and stacking height can be flexibly adjusted to adapt to pallets of different heights and stacking types with different numbers of layers. At the same time, the lifting process is smooth and controllable, avoiding excessively fast lifting or shaking that could cause agricultural products to fall or break.

[0032] The bottom of the connecting plate 14 is rotatably equipped with a rotating sleeve 15. The bottom end of the rotating sleeve 15 is fixed with a rotating sleeve base plate 16. The outer periphery of the rotating sleeve base plate 16 is equipped with a rotating plate 20. There are at least three rotating plates 20, which are evenly arranged on the outer side of the rotating plate 20. One end of each of the three rotating plates 20 is equipped with a pneumatic gripper assembly 23 for gripping bagged agricultural products, an air blowing assembly 24 for blowing away dust and water stains on the surface of the packaging bag, and a suction cup assembly 25 for vacuum adsorption to pick up and put in soft agricultural products such as strawberries, broccoli, and cotton bales, so as to avoid damage to the internal agricultural products caused by gripping. Three rotating plates 20 are evenly arranged on the outside of the rotating sleeve base plate 16, with an included angle of 120° between two adjacent rotating plates 20. This arrangement allows the three gripping components to be in different directions, so that they do not obstruct or interfere with each other after being unfolded, and can independently complete their respective functions. When it is necessary to grip bagged agricultural products, the rotating plate 20 where the pneumatic gripper component 23 is located can be rotated to the working position. When it is necessary to clean the surface of agricultural products, the rotating plate 20 where the air blowing component 24 is located can be rotated to the working position. When it is necessary to grip soft and fragile agricultural products, the rotating plate 20 where the suction cup component 25 is located can be rotated to the working position. Quick switching can be achieved by rotating the rotating sleeve 15 without the need for manual replacement of grippers or adjustment of parameters. The three rotating plates 20 can be unfolded and retracted. When unfolded, the three components, namely the pneumatic gripper component 23, the air blowing component 24, and the suction cup component 25, can be in working positions respectively, which can be quickly switched according to the type of agricultural products without the need for manual replacement of grippers, greatly shortening the changeover time and meeting the needs of mixing multiple categories and small batches. When retracted, the size of the device can be reduced, making it easy to store and move, and avoiding collisions and damage between the gripping components.

[0033] The rotating sleeve 15 is rotatably mounted on the bottom surface of the connecting plate 14, and the rotating sleeve base plate 16 is fixed to the bottom end of the rotating sleeve 15. The rotating sleeve 15 can rotate around the central axis of the connecting plate 14, thereby driving the rotating sleeve base plate 16 and the rotating plate 20 below it and the gripping component to rotate synchronously, realizing the horizontal rotation of the rotating sleeve base plate 16 and the rotating plate 20 below it and the gripping component. The orientation of the gripping component can be flexibly adjusted to adapt to agricultural product conveying lines and stacking positions in different directions. Without moving the gantry bracket 2 and the top slide plate 8, multi-directional gripping and stacking can be achieved, improving work efficiency. At the same time, the rotation process is precise and stable, avoiding the agricultural products from falling due to excessive rotation.

[0034] In this embodiment, the rest is the same as in Embodiment 1, except that: wheel frames 3 are fixed at both ends of the bottom of the portal frame 2, and drive wheels 5 are rotatably connected inside the wheel frames 3. The drive wheels 5 have wheel grooves that cooperate with the ground rail 1. A drive wheel motor 4 is fixed on one side of the outer wall of the wheel frame 3, and one end of the output shaft of the drive wheel motor 4 is fixed to the center of the drive wheel 5. The wheel frames 3 at both ends of the bottom of the portal frame 2 provide mounting support for the drive wheels 5. The wheel grooves on the drive wheels 5 fit precisely with the ground rail 1, ensuring that the drive wheels 5 can roll smoothly along the ground rail 1 without derailment or deviation. The drive wheel motor 4 on the outer wall of the wheel frame 3 serves as a power source, and its output shaft is fixedly connected to the center of the drive wheel 5. When the drive wheel motor 4 is started, the output shaft drives the drive wheel 5 to rotate, and friction is generated between the drive wheel 5 and the ground rail 1, thereby driving the portal frame 2 to slide along the ground rail 1. The drive wheel motor 4 adopts frequency conversion control, which can adjust the speed according to the operation requirements. At the same time, the two drive wheel motors 4, one at each end of the gantry bracket 2, are started, stopped and speed adjusted synchronously through the PLC control system to ensure that the drive wheels 5 at both ends of the gantry bracket 2 rotate at the same speed, avoid tilting or jamming of the gantry bracket 2 during the sliding process, ensure the smoothness of movement, and thus ensure the accuracy of the gripping and stacking process.

[0035] A groove 6 is provided in the center of the top crossbeam of the portal frame 2, through which the top slide plate 8 can slide on the portal frame 2. Two parallel racks 7 are provided on both sides of the top crossbeam of the portal frame 2. A first servo motor 10 is fixed on both sides of the top of the top slide plate 8. A first gear 11 is fixed at the bottom of the output shaft of the first servo motor 10, and the first gear 11 meshes with the racks 7. The groove 6 in the center of the top crossbeam of the portal frame 2 provides sliding guidance for the top slide plate 8, restricts the sliding direction of the top slide plate 8, and ensures that the top slide plate 8 can only move laterally along the groove 6. The racks 7 on both sides of the top crossbeam of the portal frame 2 mesh with the first gear 11 on the top of the top slide plate 8. The first servo motor 10 acts as a power source, and its output shaft drives the first gear 11 to rotate. Since the racks 7 are fixed, the rotation of the gears will drive the top slide plate 8 to slide along the direction of the racks 7, thereby realizing the lateral position adjustment of the top slide plate 8. Each of the top sides of the top slide plate 8 is equipped with a first servo motor 10 and a first gear 11. The two first servo motors 10 receive the same control signal through the PLC control system to achieve synchronous start, synchronous speed adjustment and synchronous stop, ensuring that the two first gears 11 have the same speed and the same direction, thereby driving the top slide plate 8 to slide smoothly along the slide groove 6, avoiding tilting or jamming of the top slide plate 8, ensuring the accuracy of lateral movement, and providing a guarantee for the accurate positioning of the subsequent gripping position.

[0036] A fixed gear ring 29 is fixed to the inner wall of the upper half of the rotating sleeve 15. A second servo motor 27 is fixed to one side of the top of the connecting plate 14. A second gear 28 is fixed to the bottom end of the output shaft of the second servo motor 27, and the second gear 28 meshes with the second servo motor 27. The fixed gear ring 29 on the inner wall of the upper half of the rotating sleeve 15 meshes with the second gear 28 at the bottom end of the output shaft of the second servo motor 27. The second servo motor 27 serves as a rotational power source, and its output shaft drives the second gear 28 to rotate. The second gear 28 meshes with the fixed gear ring 29, thereby driving the rotating sleeve 15 to rotate, realizing the horizontal rotation of the rotating sleeve base plate 16. The second servo motor 27 receives control signals through the PLC control system, which can precisely adjust the speed and rotation angle to achieve precise rotation positioning of the rotating sleeve 15, ensuring that the gripping component can accurately align with the gripping position and stacking position of the agricultural products. At the same time, the second servo motor 27, the lifting cylinder 9, and the first servo motor 10 are coordinated and controlled by the PLC. When the rotating sleeve 15 rotates, the lifting cylinder 9 and the first servo motor 10 can synchronously adjust the lifting height and lateral position according to the rotation position to ensure the continuity and accuracy of the gripping and stacking actions.

[0037] The bottom of the lifting top plate 12 is fixed with an upper connecting seat 17, and the top center of the rotating plate 20 is fixed with a lower connecting seat 19. A telescopic cylinder 18 is hinged between the upper connecting seat 17 and the lower connecting seat 19. A hinge 21 is provided between the rotating plate 20 and the rotating sleeve base plate 16. The rotating plate 20 is rotatably mounted on the outer periphery of the rotating sleeve base plate 16 through the hinge 21. The upper connecting seat 17 is fixed to the bottom of the lifting top plate 12, and the lower connecting seat 19 is fixed to the top center of the rotating plate 20. The telescopic cylinder 18 is hinged between the upper connecting seat 17 and the lower connecting seat 19. The telescopic cylinder 18 serves as the power source for the unfolding and retraction of the rotating plate 20. When the piston rod of the telescopic cylinder 18 extends, it pushes the rotating plate 20 to rotate outward around the hinge 21, thereby unfolding the rotating plate 20. When the piston rod of the telescopic cylinder 18 retracts, it pulls the rotating plate 20 to rotate inward around the hinge 21, thereby retracting the rotating plate 20. The device enables the unfolding and retraction of the three rotating plates 20. When unfolded, the three components, namely the pneumatic gripper component 23, the air blowing component 24, and the suction cup component 25, are in their respective working positions, allowing for quick switching of use according to the type of agricultural product. This eliminates the need for manual gripper replacement, significantly shortening the changeover time and meeting the needs of mixing multiple categories of small batches. When retracted, the device size is reduced, facilitating storage and movement and preventing damage from collisions between the gripping components.

[0038] A limiting plate 22 is fixed to one side of the bottom of the rotating base plate 16. The top of the limiting plate 22 is provided with a relief groove 26 located below the hinge 21. When the rotating plate 20 is in a horizontal state, the bottom surface of the rotating plate 20 is in contact with the top surface of the limiting plate 22. The limiting plate 22 is fixed to one side of the bottom of the rotating base plate 16, and the relief groove 26 at its top is located below the hinge 21, which can prevent the rotating plate 20 from interfering with the limiting plate 22 when rotating, ensuring that the rotating plate 20 can rotate smoothly. When the rotating plate 20 is pushed to a horizontal state by the telescopic cylinder 18, the bottom surface of the rotating plate 20 is in contact with the top surface of the limiting plate 22. The limiting plate 22 provides support and limits the rotating plate 20, restricting the rotating plate 20 from continuing to rotate outward, ensuring that the rotating plate 20 remains horizontal, thereby keeping the gripping component in a horizontal working position, and preventing the center of gravity of the gripped agricultural products from shifting due to the tilt of the rotating plate 20, resulting in falling or breakage. Ensure that the rotating plate 20 remains horizontal after unfolding, avoid excessive rotation or tilting of the rotating plate 20, ensure the working stability of the gripping component, and prevent agricultural products from falling or being damaged due to tilting of the rotating plate 20 during the gripping process.

[0039] This invention employs three gripping and cleaning components with different functions: a pneumatic gripper assembly 23, an air blowing assembly 24, and a suction cup assembly 25. These components are adapted to bagged agricultural products, agricultural products requiring cleaning, and soft, fragile agricultural products, respectively. The pneumatic gripper assembly 23, through its equidistant arrangement of multiple grippers and a pressing structure, achieves stable gripping of bagged agricultural products, preventing slippage and compression. The suction cup assembly 25 uses vacuum adsorption to achieve damage-free gripping of soft agricultural products, eliminating compression and breakage. The air blowing assembly 24 can clean impurities from the surface of agricultural products, further improving gripping stability and solving the problem of poor adaptability of traditional single grippers. By rotating the rotating sleeve 15 and unfolding and retracting the rotating plate 20, three gripping and cleaning components can be quickly switched without the need for manual replacement of grippers or adjustment of complex parameters. The changeover time is greatly shortened, which can easily meet the needs of mixed coding of multiple categories and small batches, improve the flexibility and efficiency of warehouse palletizing, and solve the problems of cumbersome changeover and low efficiency of traditional devices. The entire device automates the grabbing, cleaning, and palletizing of agricultural products, eliminating the need for manual grabbing, gripper replacement, and parameter adjustment, thus significantly reducing labor intensity. At the same time, the coordinated operation of each component avoids errors and inefficiencies associated with manual operation, significantly improving the efficiency and quality of agricultural product storage and palletizing. It is suitable for large-scale, multi-category agricultural product storage scenarios.

[0040] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. An agricultural product storage and palletizing device, comprising: The ground rail (1) and the pneumatic gripper assembly (23) are characterized in that: a gate-shaped bracket (2) is slidably provided on the top of the ground rail (1), a top plate (8) is slidably provided on the top crossbeam of the gate-shaped bracket (2), a lifting cylinder (9) is fixed on both sides of the top of the top plate (8), a lifting top plate (12) is fixed at the bottom of the piston rod of the lifting cylinder (9), a connecting column (13) is fixed on the bottom surface of the lifting top plate (12), a connecting plate (14) is fixed at the bottom of the connecting column (13), a rotating sleeve (15) is rotatably provided at the bottom of the connecting plate (14), a rotating sleeve bottom plate (16) is fixed at the bottom of the rotating sleeve (15), a rotating plate (20) is rotatably provided on the outer periphery of the rotating sleeve bottom plate (16), there are at least three rotating plates (20), the three rotating plates (20) are evenly arranged on the outer side of the rotating plate (20), and a pneumatic gripper assembly (23), an air blowing assembly (24) and a suction cup assembly (25) are respectively provided at one end of the three rotating plates (20).

2. The agricultural product storage and palletizing device according to claim 1, characterized in that: Each of the three rotating plates (20) has a T-slot profile (30) fixed at one end of its bottom.

3. The agricultural product storage and palletizing device according to claim 2, characterized in that: The pneumatic gripper assembly (23) includes a gripper mounting plate (34). A gripper cylinder (35) is rotatably mounted on one side of the top of the gripper mounting plate (34). A rotating arm (36) is rotatably mounted on one end of the piston rod of the gripper cylinder (35). A rotating shaft (37) is fixed at the bottom end of the rotating arm (36). The two ends of the rotating shaft (37) are connected to the gripper mounting plate (34) through bearing seats. Fixed arms (38) are fixed at both ends of the rotating shaft (37). A fixed plate (39) is fixed between the fixed arms (38). A gripper (40) is fixed on one side of the fixed plate (39). A pressing cylinder (41) is fixed on one side of the top of the gripper mounting plate (34). A pressure plate (42) is fixed at the bottom end of the piston rod of the pressing cylinder (41).

4. The agricultural product storage and palletizing device according to claim 3, characterized in that: The gripper mounting plate (34) is connected to the T-slot profile (30) by T-bolts. There are multiple grippers (40), and the multiple grippers (40) are arranged at equal intervals on the fixing plate (39).

5. The agricultural product storage and palletizing device according to claim 2, characterized in that: The air blowing assembly (24) includes an air blowing pipe (31) and an air blowing nozzle (32). The air blowing pipe (31) is fixed to the T-slot profile (30), and the air blowing nozzle (32) is equidistantly arranged at the bottom of the air blowing pipe (31).

6. The agricultural product storage and palletizing device according to claim 2, characterized in that: The suction cup assembly (25) includes a negative pressure vacuum suction cup (33). Multiple negative pressure vacuum suction cups (33) are equidistantly installed on the bottom of the T-groove profile (30). The negative pressure vacuum suction cups (33) are connected to the T-groove profile (30) by T-bolts.

7. The agricultural product storage and palletizing device according to claim 1, characterized in that: The bottom two ends of the gate bracket (2) are fixed with wheel frames (3), and the wheel frames (3) are rotatably connected to the drive wheel (5). The drive wheel (5) has a wheel groove that matches the ground rail (1). The outer wall of the wheel frame (3) is fixed with a drive wheel motor (4), and one end of the output shaft of the drive wheel motor (4) is fixed to the center of the drive wheel (5).

8. The agricultural product storage and palletizing device according to claim 1, characterized in that: The top beam of the portal frame (2) has a groove (6) in the center. The top slide plate (8) can slide on the portal frame (2) through the groove (6). Two parallel racks (7) are provided on both sides of the top beam of the portal frame (2). A first servo motor (10) is fixed on both sides of the top of the top slide plate (8). A first gear (11) is fixed at the bottom of the output shaft of the first servo motor (10). The first gear (11) meshes with the rack (7).

9. The agricultural product storage and palletizing device according to claim 1, characterized in that: The upper half of the rotating sleeve (15) is fixed with a fixed gear ring (29), and a second servo motor (27) is fixed on one side of the top of the connecting plate (14). A second gear (28) is fixed at the bottom of the output shaft of the second servo motor (27), and the second gear (28) meshes with the second servo motor (27).

10. An agricultural product storage and palletizing device according to claim 1, characterized in that: The bottom of the lifting top plate (12) is fixed with an upper connecting seat (17), and the center of the top of the rotating plate (20) is fixed with a lower connecting seat (19). A telescopic cylinder (18) is hinged between the upper connecting seat (17) and the lower connecting seat (19). A hinge (21) is provided between the rotating plate (20) and the rotating sleeve base plate (16). A limit plate (22) is fixed on one side of the bottom of the rotating sleeve base plate (16). A relief groove (26) is opened on the top of the limit plate (22) below the hinge (21). When the rotating plate (20) is in a horizontal state, the bottom surface of the rotating plate (20) is in contact with the top surface of the limit plate (22).

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