A palletizing apparatus for grain handling

Abstract

The application discloses a kind of stacking equipment for grain loading and unloading, including stacking manipulator, stacking manipulator includes manipulator body and bag grain clamping device, bag grain clamping device includes mounting plate, driving mechanism and flattening mechanism;Two clamps are connected below mounting plate;Driving mechanism is used to drive two clamps to move towards or apart;Flattening mechanism includes pressure seat, pressure seat is located between two clamps, the top of pressure seat is equipped with vertical sliding slot, the bottom of mounting plate is equipped with guide column with vertical sliding slot sliding connection, the inner side of clamp is connected with push-pull plate, driving pin is equipped on push-pull plate, the side of pressure seat is equipped with guide slot with driving pin sliding joint, guide slot includes horizontal section and inclined section, inclined section is located outside horizontal section, the end of inclined section away from horizontal section is inclined upward.The application discloses a kind of stacking equipment for grain loading and unloading, its structure is reasonable, and solve the technical problem that bag grain middle arch is caused due to clamping in prior art, and the technical problem that the stability of stacking is poor.

Description

Technical Field

[0001] This invention relates to a palletizing device for grain loading and unloading. Background Technology

[0002] In grain storage and logistics, bagged grains (such as rice, flour, and feed) typically need to be stacked on shelves or pallets. Currently, commonly used automated palletizing equipment usually includes a robotic arm and a bag gripper installed at the end of the robotic arm.

[0003] Existing bagged grain clamping devices mostly use two opposing clamps to squeeze and hold the grain on both sides of the bag. However, existing palletizing equipment has the following problems in actual use: During the clamping process, due to the fluidity of the grain inside the bag, the lateral compression of the clamps causes the middle of the bag to arch and deform upwards. When the robotic arm places the bag on the shelf and releases the clamps, the arched bag often cannot completely return to a flat state under gravity. When this irregularly shaped bag is stacked in multiple layers, the contact area between the upper and lower bags is reduced, and the center of gravity is unstable. This not only reduces the space utilization of the palletizing but also seriously affects the stability of the stack, making it prone to tilting or even collapsing, posing a safety hazard. Therefore, it is necessary to design corresponding technical solutions to solve the above problems. Summary of the Invention

[0004] To overcome the aforementioned deficiencies of the prior art, the present invention provides a palletizing device for grain loading and unloading, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution of the present invention is to design a palletizing equipment for grain loading and unloading, including a palletizing robot, wherein the palletizing robot includes a robot body and a bag grain clamping device connected to the output end of the robot body, and the bag grain clamping device includes a mounting plate, a drive mechanism and a flattening mechanism. Two clamping plates are connected to the lower part of the mounting plate, and the two clamping plates are arranged opposite to each other; The driving mechanism is used to drive the two clamping plates to move toward each other or away from each other; The flattening mechanism includes a pressure seat, which is disposed between two clamping plates. The top of the pressure seat has two vertical sliding grooves. The bottom of the mounting plate has two guide posts that are slidably connected to the vertical sliding grooves. The inner side of the clamping plates is connected to two push-pull plates, which are located on both sides of the pressure seat. The push-pull plates are provided with drive pins. The side of the pressure seat is provided with a guide groove that is slidably engaged with the drive pin. The guide groove includes a horizontal section and an inclined section connected to each other. The inclined section is located outside the horizontal section, and the end of the inclined section away from the horizontal section is inclined upward.

[0006] Preferably, the mounting plate is provided with a horizontal slide groove, and the top of the two clamping plates is provided with a slider that is slidably connected to the horizontal slide groove. The top of the two sliders extends upward to form a connecting part. The driving mechanism includes a drive motor and a lead screw. The drive motor is located on the top of the mounting plate, and the lead screw is connected to the output shaft of the drive motor. The two connecting parts are threadedly connected to the lead screw through threaded holes, and the threads of the threaded holes of the two connecting parts are in opposite directions.

[0007] Preferably, the bottom ends of the two clamps extend vertically to form anti-detachment parts.

[0008] Preferably, the end of the anti-detachment part away from the clamp has an arc-shaped structure.

[0009] Preferably, the bottom end of the guide post is provided with a limiting protrusion, and the top opening of the vertical slide groove is provided with a retaining ring for blocking the limiting protrusion.

[0010] Preferably, the bottom of the pressure seat is provided with a pad.

[0011] Preferably, the mounting plate is connected to the output end of the robot body via a connecting frame.

[0012] The advantages and beneficial effects of this invention are as follows: It provides a palletizing device for grain loading and unloading, which has a reasonable structure. By setting a flattening mechanism, it effectively solves the industry problem of uneven and easy-to-tilt bag grain palletizing, and significantly improves the neatness and stability of palletizing. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the present invention.

[0014] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0015] Figure 3 This is a schematic diagram of the connection structure between the slider and the mounting plate in this invention. Detailed Implementation

[0016] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0017] The specific technical solution of this invention is as follows: In one specific embodiment, such as Figure 1 and Figure 2As shown, the present invention provides a palletizing device for loading and unloading grain, including a palletizing robot. The palletizing robot includes a robot body and a bag grain clamping device connected to the output end of the robot body. The robot body is used to perform spatial displacement, and the bag grain clamping device includes a mounting plate 1, a drive mechanism, and a flattening mechanism. Two clamping plates 2 are connected to the lower part of the mounting plate 1, and the two clamping plates 2 are arranged opposite to each other; The driving mechanism is used to drive the two clamping plates 2 to move toward each other or away from each other; The flattening mechanism includes a pressure seat 3, which is located between two clamping plates 2. The top of the pressure seat 3 is provided with two vertical sliding grooves 4. The bottom of the mounting plate 1 is provided with two guide posts 5 that are slidably connected to the vertical sliding grooves 4. The inner side of the clamping plate 2 is connected with two push-pull plates 6, which are located on the front and rear sides of the pressure seat 3 respectively. The push-pull plates 6 are provided with driving pins 7. The side of the pressure seat 3 is provided with a guide groove that is slidably engaged with the driving pins 7. The guide groove includes a horizontal section 8 and an inclined section 9 connected to each other. The inclined section 9 is located outside the horizontal section 8, and the end of the inclined section 9 away from the horizontal section 8 is inclined upward.

[0018] The working steps of the palletizing equipment for grain loading and unloading according to the above scheme are as follows: Initial state: The bag grain clamping device is located at the end of the grain bag conveying device, and the drive pin 7 is located at the intersection of the horizontal section 8 and the inclined section 9 in the guide groove.

[0019] Grabbing the bagged grain: The control drive mechanism drives the two clamping plates 2 to move towards each other, clamping the two sides of the bagged grain at the end of the grain bag conveying device. During this process, the clamping plates 2 drive the drive pin 7 to slide in the horizontal section 8 through the push-pull plate 6. The drive pin 7 does not generate an upward or downward driving force on the pressure seat 3 in the vertical direction. Therefore, the pressure seat 3 remains stationary, and the clamping action is completed only by the clamping plates 2.

[0020] Transferring and releasing bagged grain: The robotic arm moves the bagged grain it is holding to the target position above the shelf. Then, it controls the drive mechanism to move the two clamping plates 2 apart, releasing the bagged grain so that it falls onto the shelf by gravity. During this process, the clamping plates 2 slide in the horizontal section of the drive pin 7 through the push-pull plate 6 and return to the intersection of the horizontal section 8 and the inclined section 9. The pressure seat 3 is still not pressed down.

[0021] Flattening and shaping: Because the bagged grain is squeezed and arched during clamping, the upper surface of the bagged grain is uneven. Therefore, the control drive mechanism drives the two clamping plates 2 to continue to move away from each other. During this process, the clamping plates 2 drive the drive pin 7 to slide into the inclined section 9 through the push-pull plate 6, and the drive pin 7 squeezes the inner wall of the inclined section 9, so that the pressure seat 3 moves down along the guide post 5 and acts on the top of the placed bagged grain, flattening and compacting the arched part.

[0022] Reset: After flattening, the robot arm moves the bag holding device back to the end of the bag conveying device. At the same time, the control drive mechanism drives the two clamping plates 2 to move towards each other and then resets, so that the drive pin 7 returns from the inclined section 9 to the junction of the horizontal section 8 and the inclined section 9. The drive pin 7 presses the inner wall of the inclined section 9, so that the pressure seat 3 moves upward along the guide post 5 and then resets, so as to avoid the pressure seat 3 interfering with the next clamping action. The equipment returns to the initial state and waits for the next clamping.

[0023] In another specific embodiment, such as Figure 1 and Figure 3 As shown, the mounting plate 1 is provided with a horizontal slide groove 10, and the top of the two clamping plates 2 are respectively provided with sliders 11 that are slidably connected to the horizontal slide groove 10. The tops of the two sliders 11 extend upward to form connecting parts 12. The driving mechanism includes a drive motor 13 and a lead screw 14. The drive motor 13 is located on the top of the mounting plate 1, and the lead screw 14 is connected to the output shaft of the drive motor 13. The two connecting parts 12 are respectively threaded to the lead screw 14 through threaded holes, and the threads of the threaded holes of the two connecting parts 13 are opposite in direction.

[0024] The above solution is adopted: by controlling the drive motor 13 to run in the forward direction, the lead screw 14 is connected to the two connecting parts 21 by threads, which drives the two clamping plates 2 to move towards each other; by controlling the drive motor 13 to run in the reverse direction, the lead screw 14 is connected to the two connecting parts 21 by threads, which drives the two clamping plates 2 to move away from each other.

[0025] In another specific embodiment, such as Figure 1 As shown, the bottom ends of the two clamps 2 extend vertically to form anti-detachment parts 15.

[0026] The above solution is adopted: when the two clamping plates 2 move towards each other to clamp the bag of grain, the anti-detachment part 15 is inserted into the area below the bottom of the bag of grain, forming a bottom lifting force on the bag of grain, which works together with the lateral clamping force of the clamping plates 2 to prevent the bag of grain from falling off during the transfer process.

[0027] In another specific embodiment, such as Figure 1 As shown, the end of the anti-detachment part 15 away from the clamping plate 2 has an arc-shaped structure.

[0028] The above measures are adopted to prevent the anti-detachment part 15 from puncturing or scratching the packaging bag of the bagged grain during the clamping process.

[0029] In another specific embodiment, such as Figure 1 and Figure 2 As shown, the bottom end of the guide post 5 is provided with a limiting protrusion 16, and the top opening of the vertical slide groove 4 is provided with a retaining ring 17 for blocking the limiting protrusion 16.

[0030] The above solution ensures a reliable connection between the pressure base 3 and the mounting plate 1.

[0031] In another specific embodiment, such as Figure 1 As shown, the bottom of the pressure seat 3 is provided with a pad 18.

[0032] The above solution is adopted: During the flattening process, the pad 18 contacts the top of the grain bag. The pad 18 can be made of flexible materials such as rubber and polyurethane, which plays a role in protecting the grain bag packaging.

[0033] In another specific embodiment, such as Figure 1 As shown, the mounting plate 1 is connected to the output end of the robot body via the connecting frame 19.

[0034] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A palletizing device for loading and unloading grain, comprising a palletizing robot, the palletizing robot including a robot body and a bag-grain clamping device connected to the output end of the robot body, characterized in that, The bag grain clamping device includes a mounting plate, a drive mechanism, and a flattening mechanism; Two clamping plates are connected to the lower part of the mounting plate, and the two clamping plates are arranged opposite to each other; The driving mechanism is used to drive the two clamping plates to move toward each other or away from each other; The flattening mechanism includes a pressure seat, which is disposed between two clamping plates. The top of the pressure seat has two vertical sliding grooves. The bottom of the mounting plate has two guide posts that are slidably connected to the vertical sliding grooves. The inner side of the clamping plates is connected to two push-pull plates, which are located on both sides of the pressure seat. The push-pull plates are provided with drive pins. The side of the pressure seat is provided with a guide groove that is slidably engaged with the drive pin. The guide groove includes a horizontal section and an inclined section connected to each other. The inclined section is located outside the horizontal section, and the end of the inclined section away from the horizontal section is inclined upward.

2. The palletizing equipment for grain loading and unloading according to claim 1, characterized in that, The mounting plate is provided with a horizontal sliding groove, and the top of the two clamping plates is provided with a slider that is slidably connected to the horizontal sliding groove. The top of the two sliders extends upward to form a connecting part. The driving mechanism includes a driving motor and a lead screw. The driving motor is located on the top of the mounting plate, and the lead screw is connected to the output shaft of the driving motor. The two connecting parts are respectively threaded to the lead screw through threaded holes, and the threads of the threaded holes of the two connecting parts are in opposite directions.

3. The palletizing equipment for grain loading and unloading according to claim 1, characterized in that, The bottom ends of the two clamps extend vertically to form anti-detachment parts.

4. The palletizing equipment for grain loading and unloading according to claim 3, characterized in that, The end of the anti-detachment part away from the clamp has an arc-shaped structure.

5. The palletizing equipment for grain loading and unloading according to claim 1, characterized in that, The bottom end of the guide post is provided with a limiting protrusion, and the top opening of the vertical slide groove is provided with a retaining ring for blocking the limiting protrusion.

6. The palletizing equipment for grain loading and unloading according to claim 1, characterized in that, The bottom of the pressure seat is provided with a pad.

7. The palletizing equipment for grain loading and unloading according to claim 1, characterized in that, The mounting plate is connected to the output end of the robot body via a connecting frame.

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