A feed piling processing machine

Abstract

The present application relates to the technical field of feed stacking, and particularly relates to a feed stacking processing machine, which comprises a rotating base, a rotatable mechanical arm arranged on the top of the rotating base, a drive box connected to the other side of the mechanical arm, a clamping mechanism arranged on the bottom of the drive box, a pressing cover plate one and a protective shell one arranged on the bottom of the drive box in a sliding mode, a movable block one and a movable block two arranged on the opposite sides of the pressing cover plate one and the protective shell one respectively, and an elastic rope arranged between the movable block one and the movable block two. The present application drives the elastic rope to spread outwards through the pressing mechanism, first performs flexible smoothing on the top surface of the feed bag in a large area, eliminates the appearance defects such as bag top bulging, material loosening, bag corner turning up and the like, and then drives the movable block two to rotate 180 degrees through the torsion mechanism, so that a controllable line entangling folding point is formed in the middle of the elastic rope, the downward pressure force is concentrated and locked on the two sides of the top of the feed bag, and the middle part of the bag top is automatically relieved.

Description

Technical Field

[0001] This invention relates to the field of feed palletizing technology, and in particular to a feed palletizing processing machine. Background Technology

[0002] In the field of automated feed production and processing, bagged feed products are generally transported and stacked automatically using robotic arm palletizing equipment to improve feed storage and palletizing efficiency. Existing feed palletizing robots mainly rely on the gripping arms on both sides to directly clamp and grab the feed bag. They are simple in structure and have high gripping efficiency, and are widely used in various feed production lines. However, in actual operation, the filled feed bags generally have problems such as bloating at the top, loose surface material, curled corners, and uneven material distribution. Conventional gripping methods have many defects, which seriously affect the palletizing accuracy and operational stability.

[0003] In existing technologies, palletizing grippers mostly do not have a pre-shaping structure before clamping feed bags, or they only use a fixed rigid pressure plate or a common flat flexible net to press down and flatten the entire bag. This kind of shaping method can only achieve uniform pressing of the top surface of the feed bag. Although it can initially smooth out the protrusion at the top of the bag, it has obvious technical drawbacks in actual clamping operations. When the clamping arms on both sides close and clamp the feed bag, the bottom sides of the feed bag will arch upward due to the clamping and squeezing, causing the bag to form a funnel-shaped deformation that is narrow at the bottom and wide at the top. The loose material inside the bag is squeezed and surges upward, continuously pushing the top two corners of the feed bag outward and opening, causing the bag to twist and shift its posture during the clamping process.

[0004] Therefore, how to provide a feed palletizing and processing machine is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a feed palletizing and processing machine to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a feed palletizing and processing machine, including a rotating base, a rotatable mechanical arm is provided on the top of the rotating base, a drive box is connected to the bottom of the other side of the mechanical arm, a clamping mechanism is provided at the bottom of the drive box, a pressure plate and a protective shell are slidably provided at the bottom of the drive box, a movable block and a movable block are respectively provided on the opposite side of the pressure plate and the protective shell, an elastic rope is provided between the movable block and the movable block, and the movable block is rotatably connected to the protective shell through a drive device.

[0007] Furthermore, the clamping mechanism includes an electric telescopic rod one and an electric telescopic rod two, which are respectively fixedly connected to opposite sides of the drive box. The telescopic end of the electric telescopic rod one passes through the drive box and extends into the drive box, where a connector one is fixedly connected. The telescopic end of the electric telescopic rod two passes through the drive box and extends into the drive box, where a connector two is fixedly connected. A clamping arm one is rotatably arranged on the side of the connector one away from the electric telescopic rod one, and a clamping arm two is rotatably arranged on the side of the connector two away from the electric telescopic rod two.

[0008] Furthermore, it also includes a pressing mechanism, which includes a first movable arm and a second movable arm. The first movable arm and the second movable arm are respectively disposed on both sides of the first connector and the second connector. The bottom of the first movable arm and the second movable arm are respectively fixedly connected to the second movable seat and the first movable seat. The second pressing plate is fixedly connected to both sides of the second movable seat. The first movable seat is fixedly connected to the first pressing plate on both sides. The second pressing plate is rotatably provided with a second movable block on the side facing the first pressing plate. The side of the first pressing plate close to the second pressing plate is fixedly connected to the first movable block.

[0009] Furthermore, the bottom of the drive box is provided with a limiting groove to accommodate the first moving arm and the second moving arm. When the first moving arm moves, it drives the second pressing plate and the second moving seat to move. When the second moving arm moves, it drives the first moving seat and the first pressing plate to move.

[0010] Furthermore, the driving device includes a bidirectional telescopic rod, which is disposed on the side of the movable seat two away from the movable seat one. Movable racks are fixedly disposed on both sides of the bidirectional telescopic rod, and an adjusting gear is meshed with the bottom of the movable rack. The adjusting gear is connected to the front of the movable block two.

[0011] Furthermore, it also includes a torsion mechanism, which includes a protective shell 1, which is fixedly connected to the side of the pressure plate 2 away from the movable block 2, and the protective shell 2 is fixedly connected to the side of the movable seat 2 away from the movable seat 1.

[0012] Furthermore, the telescopic end of the bidirectional telescopic rod extends through both the second and first protective shells and into the first protective shell, where it is fixedly connected to the movable rack. The rotating shaft is fixedly connected to the second movable block. The front end of the rotating shaft extends through the second pressure plate and the first protective shell and into the front side of the first protective shell. When the bidirectional telescopic rod drives the movable rack to move, the movable rack drives the adjusting gear meshing with it at the bottom to rotate, and drives the second movable block behind the adjusting gear to rotate 180 degrees.

[0013] Furthermore, the bidirectional telescopic rod is disposed inside the second protective shell, and the middle part of the adjusting gear is fixedly connected to the outer surface of the rotating shaft.

[0014] Furthermore, a sliding groove is provided at the top of the inner part of the protective shell, and a slider is provided at the top of the movable rack. The movable rack is slidably connected to the sliding groove through the slider.

[0015] The beneficial effects of this invention are: 1. In this invention, the elastic rope is spread outward by the pressing mechanism. First, the top surface of the feed bag is smoothed out over a large area to eliminate appearance defects such as bulging at the top of the bag, loose material, and upturned corners. Then, the moving block 2 is rotated 180 degrees by the torsion mechanism, so that the middle of the elastic rope forms a controllable entanglement and gathering point, which concentrates and locks the downward pressure on both sides of the top of the feed bag, and the pressure in the middle of the top of the bag is automatically released. 2. This invention, when the clamping arm closes and grips the bag body and the bottom of the bag is squeezed and arched upwards, can counteract the tendency of the bag top to turn outwards and the bag corners to open due to the upward surge of material, effectively suppressing the deformation and torsional displacement of the bag body's flared mouth, while avoiding the problems of lateral bulging and woven bag tearing and leakage caused by bidirectional squeezing of the bag body from the top and bottom. It solves the dilemma of traditional structures where heavy pressure breaks the bag and light pressure does not clamp it properly, improves the clamping stability and the regularity of the stacked bags, and prevents failures such as slippage, bag drop, stack collapse, and stack skew. 3. In this invention, after each feeding is completed, the bidirectional telescopic rod drives the movable block two to automatically rotate and reset, thereby automatically untangling the elastic rope. This avoids the problems of continuous tangling, knotting, force shift, and local fatigue aging of the elastic rope after multiple cycles of operation. It ensures that the position, shape, and force state of the tangling point are highly consistent in each grasping and shaping operation, improving the repeatability and stability of the operation. At the same time, the elastic rope can automatically shake off the feed powder adhering to the surface during the shrinking and deformation process, achieving self-cleaning of the structure and preventing dust accumulation from changing the tension and friction coefficient of the elastic rope, thus ensuring long-term stable shaping accuracy. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the planar structure of the drive box of the present invention; Figure 3 This is a schematic diagram of one part of the clamping arm of the present invention; Figure 4 This is an enlarged structural diagram of one part of the connector of the present invention; Figure 5 This is a schematic diagram of the two structural features of the movable seat of the present invention; Figure 6 This is a schematic diagram of the elastic cord structure of the present invention; Figure 7 This is a schematic diagram of the adjusting gear structure of the present invention.

[0017] In the diagram: 1. Rotating base; 2. Robotic arm; 3. Drive unit; 4. Clamping mechanism; 401. Electric telescopic pole one; 402. Connector one; 403. Clamping arm one; 404. Electric telescopic pole two; 405. Connector two; 406. Clamping arm two; 5. Overlapping mechanism; 501. Moving arm one; 502. Moving arm two; 503. Pressing plate one; 504. Movable block one; 505. Movable seat one; 506. Pressing plate two; 507. Movable seat two; 508. Movable block two; 509. Elastic rope; 6. Torsion mechanism; 601. Protective shell one; 602. Protective shell two; 603. Bidirectional telescopic rod; 604. Moving rack; 605. Adjusting gear; 606. Rotating shaft. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0019] The existing technology has at least the following problems: First, the traditional overall pressure shaping structure applies pressure to the top center and both sides of the bag simultaneously throughout the entire process, which cannot achieve zoned pressure relief and fixed-point constraint. If the overall pressure is continuous, the feed inside the bag has no room to retreat and is easily squeezed from both above and below to expand and bulge to both sides of the bag body, causing the woven bag to tear, leak, and break. If the downward pressure is reduced, it cannot effectively constrain the two corners at the top of the bag. The corners of the bag are easily caught by the clamping arm, resulting in problems such as loose clamping and incomplete clamping. After being gripped, the feed bag is prone to slippage, flipping, and falling, which leads to skewed stacking, misalignment, and collapse, seriously affecting the stability of continuous operation of the production line. Secondly, in order to solve the problem of bag corners lifting, some existing equipment uses the method of adding independent side pressure blocks to limit the bag corners. However, this structure requires additional configuration of multiple sets of drive and transmission components, resulting in a bulky overall structure of the gripper, increased weight, and increased manufacturing costs. Moreover, the linkage sequence of multiple mechanisms is complex, which can easily lead to asynchronous actions and jamming failures, making it unsuitable for high-speed and high-frequency feed palletizing operations. Finally, the amount of dust at the feed production site is large, and most of the existing palletizing grippers' transmission and sliding structures lack airtight dust protection. Feed dust can easily enter the gaps in gear meshing, telescopic rod sliding, and shaft rotation. Long-term accumulation will cause mechanism jamming, movement deviation, and reduced shaping accuracy, thereby reducing the service life and operational stability of the equipment.

[0020] The following is combined with Figures 1-7The following describes embodiments of the present invention.

[0021] The present invention provides a possible embodiment to address the problem raised. In one aspect, a feed palletizing processing machine is provided, including a rotating base 1, a rotatable robotic arm 2 is provided on the top of the rotating base 1, a drive box 3 is connected to the bottom of the other side of the robotic arm 2, a clamping mechanism 4 is provided at the bottom of the drive box 3, a pressing plate 503 and a protective shell 601 are slidably provided at the bottom of the drive box 3, a movable block 504 and a movable block 508 are respectively provided on the opposite side of the pressing plate 503 and the protective shell 601, an elastic rope 509 is provided between the movable block 504 and the movable block 508, and the movable block 508 is rotatably connected to the protective shell 601 through a drive device.

[0022] In this embodiment, the rotating base 1 is used to realize the horizontal rotation and alignment of the whole machine. The robotic arm 2 rotates around the rotating base 1, driving the drive box 3 and the clamping mechanism 4 and pressing mechanism 5 located below the drive box 3 to move above the bagged feed. The drive box 3 serves as the mounting carrier for the clamping mechanism 4 and the pressing mechanism 5, and also protects the internal electric telescopic rod and transmission components. The pressure plate 503 and the protective shell 601 can slide towards or away from each other along the bottom of the drive box 3. The elastic rope 509 pulled between the movable block 504 and the movable block 508 can spread out or retract as the distance between them changes. The movable block 508 can rotate relative to the protective shell 601 under the action of the drive device, thereby pulling the elastic rope 509 to form a controllable line entanglement and retraction point.

[0023] In one specific embodiment, the clamping mechanism 4 includes an electric telescopic rod 401 and an electric telescopic rod 404. The electric telescopic rod 401 and the electric telescopic rod 404 are respectively fixedly connected to opposite sides of the drive box 3. The telescopic end of the electric telescopic rod 401 passes through the drive box 3 and extends into the drive box 3, where a connector 402 is fixedly connected. The telescopic end of the electric telescopic rod 404 passes through the drive box 3 and extends into the drive box 3, where a connector 405 is fixedly connected. A clamping arm 403 is rotatably provided on the side of the connector 402 away from the electric telescopic rod 401, and a clamping arm 406 is rotatably provided on the side of the connector 405 away from the electric telescopic rod 404. In this embodiment, when the electric telescopic rod 401 and the electric telescopic rod 404 extend synchronously, they respectively push the connector 402 and the connector 405 to move towards each other along the inside of the drive box 3, thereby driving the clamping arm 403 and the clamping arm 406 to close, clamping the bag body from both sides of the feed bag and completing the gripping action. When the electric telescopic rod 1 401 and the electric telescopic rod 2 404 retract synchronously, they drive the connecting parts 1 402 and 2 405 to move in opposite directions, and the clamping arms 1 403 and 2 406 open accordingly, releasing the feed bag to complete the feeding. Clamping arms 1 (403) and 2 (406) are rotatably connected to connectors 1 (402) and 2 (405) respectively, which can adapt to the slight deformation of the outer contour of the feed bag, increase the contact area between the clamping arms and the bag body, and avoid local stress concentration that could crush the woven bag.

[0024] In one specific embodiment, it further includes a pressing mechanism 5, which includes a first movable arm 501 and a second movable arm 502. The first movable arm 501 and the second movable arm 502 are respectively disposed on both sides of the first connector 402 and the second connector 405. The bottom of the first movable arm 501 and the second movable arm 502 are respectively fixedly connected to the second movable seat 507 and the first movable seat 505. The second movable seat 507 is fixedly connected to both sides of the second movable seat 507. The first movable seat 505 is fixedly connected to the first movable seat 503 on both sides. The second movable seat 506 is rotatably provided with a second movable block 508 on the side of the second movable seat 506 facing the first movable seat 503. The side of the first movable seat 503 near the second movable seat 506 is fixedly connected to the first movable block 504. In this embodiment, the pressing mechanism 5 is linked with the clamping mechanism 4, and the first moving arm 501 and the second moving arm 502 move synchronously with the first connecting member 402 and the second connecting member 405, respectively. When clamping arm 1 403 and clamping arm 2 406 are opened, moving arm 1 501 drives moving seat 2 507 and its two side pressing plates 2 506 to slide outward, and moving arm 2 502 drives moving seat 1 505 and its two side pressing plates 1 503 to slide outward. Pressing plates 1 503 and pressing plates 2 506 move away from each other, and moving block 1 504 and moving block 2 508 separate accordingly. Elastic rope 509 is pulled outward and spreads outward, forming a large area of ​​flexible downward pressure on the top surface of the feed bag below, realizing pre-shaping of the bag top and smoothing out the bulge and upturned corners of the bag. When the clamping arm closes, the first pressing plate 503 and the second pressing plate 506 retract towards each other, and the elastic rope 509 retracts to the center accordingly.

[0025] In one specific embodiment, the bottom of the drive box 3 is provided with a limiting slide groove to accommodate the first movable arm 501 and the second movable arm 502. When the first movable arm 501 moves, it drives the second pressing plate 506 and the second movable seat 507 to move. When the second movable arm 502 moves, it drives the first movable seat 505 and the first pressing plate 503 to move. In this embodiment, the limiting groove at the bottom of the drive box 3 provides linear motion guidance for the first movable arm 501 and the second movable arm 502, restricting them to move horizontally only along the direction of the groove, and preventing swaying or twisting during the movement process. When the first moving arm 501 moves, it simultaneously drives the second pressing plate 506 and the second moving seat 507 to move in the same direction. When the second moving arm 502 moves, it simultaneously drives the first moving seat 505 and the first pressing plate 503 to move in the same direction, so that the movement trajectories of the first pressing plate 503 and the second pressing plate 506 are parallel and symmetrical, and the position of the elastic rope 509 is consistent each time it is spread out and retracted, so as to avoid uneven force on the top of the bag due to deviation.

[0026] In one specific embodiment, the driving device includes a bidirectional telescopic rod 603, which is disposed on the side of the second movable seat 507 away from the first movable seat 505. Movable racks 604 are fixedly disposed on both sides of the bidirectional telescopic rod 603. An adjusting gear 605 is meshed with the bottom of the movable racks 604, and the adjusting gear 605 is connected to the front of the second movable block 508. In this embodiment, the bidirectional telescopic rod 603 serves as the power source for the rotation of the movable block 508, and its telescopic action drives the two moving racks 604 on both sides to slide synchronously in the horizontal direction. The movable rack 604 meshes with the adjusting gear 605 to form a rack and pinion transmission pair, which converts the linear motion of the movable rack 604 into the rotational motion of the adjusting gear 605. When the adjusting gear 605 rotates, it drives the movable block 508 connected to its front to rotate synchronously. During the rotation of the movable block 508, it pulls the end of the elastic rope 509, causing the elastic rope 509 to twist and gather, providing driving force for forming the center line entanglement and gathering point.

[0027] In one specific embodiment, it also includes a torsion mechanism 6, which includes a protective shell 601. The protective shell 601 is fixedly connected to the side of the pressure plate 506 away from the movable block 508, and the movable seat 507 is fixedly connected to the side of the movable seat 505 away from the movable seat 505. In this embodiment, the torsion mechanism 6 forms a relatively sealed dustproof cavity through the first protective shell 601 and the second protective shell 602, encapsulating the transmission components such as the bidirectional telescopic rod 603, the moving rack 604, and the adjusting gear 605 inside the cavity, preventing dust in the feed processing environment from entering the gear meshing area and the telescopic rod moving pair, and avoiding the accumulation of powder that causes transmission jamming and increased movement resistance. The protective shell 601 is fixed to the outside of the pressure plate 506, and the protective shell 602 is fixed to the outside of the movable seat 507. The two move synchronously with the pressure plate 506 and the movable seat 507, so that the relative position of the internal transmission component and the movable block 508 remains stable.

[0028] In one specific embodiment, the telescopic end of the bidirectional telescopic rod 603 passes through the second protective shell 602 and the first protective shell 601 and extends into the first protective shell 601 and is fixedly connected to the movable rack 604. The rotating shaft 606 is fixedly connected to the second movable block 508. The front end of the rotating shaft 606 passes through the second pressing plate 506 and the first protective shell 601 and extends to the front side of the first protective shell 601. When the bidirectional telescopic rod 603 drives the movable rack 604 to move, the movable rack 604 drives the adjusting gear 605 meshing with it at the bottom to rotate, and drives the second movable block 508 behind the adjusting gear 605 to rotate 180 degrees. In this embodiment, the telescopic end of the bidirectional telescopic rod 603 passes through the second protective shell 602 and the first protective shell 601 and extends into the interior of the first protective shell 601, and is fixedly connected to the movable rack 604. When the bidirectional telescopic rod 603 extends or retracts, it drives the moving rack 604 to move horizontally. The moving rack 604 drives the adjusting gear 605 meshing with it at the bottom to rotate. The adjusting gear 605 drives the movable block 508 on the rear side to rotate 180 degrees through the rotating shaft 606. After the movable block 2 508 rotates 180 degrees, the end of the elastic rope 509 twists half a turn with the movable block 2 508, so that the middle of the elastic rope 509 forms a controllable entanglement and gathering point, which concentrates the originally large-area downward pressure constraint on the top two sides of the feed bag. The elastic rope 509 in the middle of the top of the bag releases pressure, thereby offsetting the tendency of the two corners of the top of the bag to turn outward due to the upward arching caused by the compression of the bottom sides of the bag during subsequent clamping, and at the same time avoiding the continuous heavy pressure on the top of the bag, which would cause the feed to be squeezed and bulged to the sides of the bag.

[0029] In one specific embodiment, the bidirectional telescopic rod 603 is disposed inside the second protective shell 602, and the middle part of the adjusting gear 605 is fixedly connected to the outer surface of the rotating shaft 606. In this embodiment, the bidirectional telescopic rod 603 is built inside the second protective shell 602 and is protected by the second protective shell 602 to prevent feed dust from directly adhering to the surface of the telescopic rod and causing telescopic jamming. The middle part of the adjusting gear 605 is fixedly connected to the outer surface of the rotating shaft 606. The rotational torque of the adjusting gear 605 is directly and seamlessly transmitted to the movable block 508 through the rotating shaft 606, so that the rotation angle of the movable block 508 strictly corresponds to the rotation angle of the adjusting gear 605, and the movable block 508 rotates precisely 180 degrees. This ensures that the shape and position of the entanglement and gathering point formed by the elastic rope 509 are consistent each time, and avoids the entanglement point shift and excessive pressure on one side of the bag corner due to the deviation of the rotation angle.

[0030] In one specific embodiment, a sliding groove is provided at the top of the inner shell 601, and a slider is provided at the top of the movable rack 604. The movable rack 604 is slidably connected to the sliding groove through the slider. In this embodiment, the sliding groove provided at the top of the protective shell 601 cooperates with the slider provided at the top of the movable rack 604 to form a sliding guide pair; The movable rack 604 slides horizontally along the sliding groove via the slider. The sliding groove provides vertical and lateral limits to the movable rack 604, preventing it from warping, jumping up and down, or shifting laterally under the thrust of the bidirectional telescopic rod 603. This ensures that the movable rack 604 and the adjusting gear 605 always maintain the correct meshing depth and position, avoiding tooth disengagement and skipping, and improving the operational reliability and repeatability of the rotation of the movable block 2 508.

[0031] In one specific embodiment, after the material is fed, clamping arms 1 (403) and 2 (406) release from the feed bag, and the bidirectional telescopic rod 603 reverses its movement. Through the moving rack 604, adjusting gear 605, and rotating shaft 606, the movable block 2 (508) rotates 180 degrees in the opposite direction to reset, untangling the entangled knot in the middle of the elastic rope 509. At the same time, the electric telescopic rods 1 (401) and 2 (404) retract, and through the connecting parts 1 (402) and 2 (405), the moving arms 1 (501) and 2 (502) move towards each other along the limiting groove, pulling the pressing plates 1 (503) and 2 (506) closer together. The elastic rope 509 then retracts, releasing the residual tensile stress. During the retraction deformation, the feed powder adhering to the surface of the elastic rope 509 is shaken off, completing one work cycle and resetting, ready to grab the next bag of feed.

[0032] Working principle: S1, rotating the base 1 drives the robotic arm 2 to rotate and align. The robotic arm 2 drives the drive box 3 to move directly above the feed bag to be grabbed, completing the precise positioning of the grabbing station. In the initial state, the clamping arm 403 and clamping arm 406 of the clamping mechanism 4 are fully open, the pressing plate 503 and pressing plate 506 of the pressing mechanism 5 are retracted to the inner side of the bottom of the drive box 3, and the elastic rope 509 is in a relaxed and retracted state. S2. When the gripper descends to its position, the electric telescopic rod 401 and the electric telescopic rod 404 of the clamping mechanism 4 move synchronously and extend outward, respectively pushing the connecting parts 402 and 405 to move to both sides. This, in conjunction with the movement of the moving arms 501 and 502, causes them to slide outward synchronously along the limiting groove at the bottom of the drive box 3. The moving arms 501 and 502 then drive the moving seats 507 and 505, as well as the corresponding pressing plates 506 and 503, to move away from each other, increasing the distance between the moving blocks 504 and 508. This, in turn, pulls the elastic rope 509 to fully unfold. The unfolded elastic rope 509 forms a large area of ​​flexible downward pressure on the top surface of the feed bag, completing the pre-shaping operation of the bag top. This effectively smooths out the bulging of the bag top, flattens the upturned corners, flattens the loose material on the surface, and eliminates the unevenness of the bag top and the folding defects of the bag corners, providing a regular bag body foundation for subsequent stable clamping. S3. After the elastic rope 509 is laid out and pressed into place and the top of the bag is shaped, the torsion mechanism 6 starts to work. The bidirectional telescopic rod 603 inside the second protective shell 602 extends and drives the moving rack 604 to slide horizontally along the sliding groove inside the first protective shell 601. Relying on the limiting cooperation between the slider and the sliding groove, the moving rack 604 slides smoothly without deviation. The moving rack 604 meshes with the adjusting gear 605 at the bottom to drive the linear sliding motion into rotational motion. Through the rotating shaft 606, the second movable block 508 rotates 180 degrees. During the rotation of the second movable block 508, the end of the elastic rope 509 is continuously pulled, so that a stable and controllable entanglement and gathering point is formed in the middle of the elastic rope 509. The downward pressure constraint of the elastic rope 509 changes from uniform pressure on the entire top surface to concentrated pressure on both sides of the top of the feed bag, while releasing the pressure in the middle of the top of the bag. S4. The clamping mechanism 4 initiates the clamping action. Electric telescopic rod 1 401 and electric telescopic rod 2 404 retract, driving connector 1 402 and connector 2 405 to move in opposite directions. This causes clamping arm 1 403 and clamping arm 2 406 to simultaneously close and clamp the feed bag body. During the clamping process, the bottom sides of the feed bag are squeezed and arched upwards, and the bag body easily forms a funnel-shaped deformation that is narrow at the bottom and wide at the top. The material inside the bag surges up and pushes the two corners of the top of the bag to turn outwards. The entanglement and gathering point in the middle of the elastic rope 509 forms a downward pressure limit on the two sides of the top of the bag, effectively counteracting the tendency of the top of the bag to turn outwards due to the squeezing of the bottom of the bag, suppressing the twisting and vertical displacement deformation of the bag body. At the same time, the pressure relief in the middle of the top of the bag can prevent the feed from being squeezed in both directions, causing lateral bulging and damage to the woven bag, improving the clamping stability and the regularity of the bag body. The clamping arm 1 403 and clamping arm 2 406 rotate and cooperate with the corresponding connectors to adapt to the flexible deformation of the bag body, so that the clamping fit is uniform and there is no local stress concentration. S5. After the gripping is completed, the robotic arm 2 drives the whole machine to transfer the feed bag to the stacking station. During the transfer, the torsion mechanism 6 and the pressing mechanism 5 remain locked. The elastic rope 509 continuously maintains the limiting posture on both sides of the top of the bag to prevent the material from shifting and the bag from tilting due to the shaking during the transfer. When the material is stacked, the clamping mechanism 4 first maintains the clamping state, the bidirectional telescopic rod 603 is reset in the opposite direction, and the moving rack 604 is driven to move back, which drives the adjusting gear 605, the rotating shaft 606 and the movable block 508 to rotate 180 degrees in the opposite direction, automatically untangling the wire entanglement and gathering point in the middle of the elastic rope 509 and releasing the limiting constraint on the top of the bag. S6. Electric telescopic rod 1 (401) and electric telescopic rod 2 (404) fully retract, driving clamping arm 1 (403) and clamping arm 2 (406) to open and loosen the bag, completing the unloading and stacking of the feed bag. At the same time as the bag is loosened, moving arm 1 (501) and moving arm 2 (502) retract towards each other, driving pressing plate 1 (503) and pressing plate 2 (506) to move closer and reset. The elastic rope 509 then fully retracts, releasing the residual tensile stress. In addition, the retraction deformation process can automatically shake off the feed powder attached to the surface, avoiding dust accumulation that affects the accuracy of the mechanism's operation.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A feed palletizing processing machine, comprising a rotating base (1), a rotatable mechanical arm (2) disposed on the top of the rotating base (1), a drive box (3) connected to the bottom of the other side of the mechanical arm (2), and a clamping mechanism (4) disposed at the bottom of the drive box (3), characterized in that: The bottom of the drive box (3) is slidably provided with a pressure plate (503) and a protective shell (601). The pressure plate (503) and the protective shell (601) are respectively provided with a movable block (504) and a movable block (508) on opposite sides. An elastic rope (509) is provided between the movable block (504) and the movable block (508). The movable block (508) is rotatably connected to the protective shell (601) through a drive device.

2. The feed palletizing and processing machinery according to claim 1, characterized in that: The clamping mechanism (4) includes an electric telescopic rod one (401) and an electric telescopic rod two (404). The electric telescopic rod one (401) and the electric telescopic rod two (404) are respectively fixedly connected to opposite sides of the drive box (3). The telescopic end of the electric telescopic rod one (401) passes through the drive box (3) and extends into the drive box (3) and is fixedly connected to a connector one (402). The telescopic end of the electric telescopic rod two (404) passes through the drive box (3) and extends into the drive box (3) and is fixedly connected to a connector two (405). A clamping arm one (403) is rotatably provided on the side of the connector one (402) away from the electric telescopic rod one (401). A clamping arm two (406) is rotatably provided on the side of the connector two (405) away from the electric telescopic rod two (404).

3. The feed palletizing and processing machinery according to claim 2, characterized in that: It also includes a pressing mechanism (5), which includes a first movable arm (501) and a second movable arm (502). The first movable arm (501) and the second movable arm (502) are respectively disposed on both sides of the first connector (402) and the second connector (405). The bottom of the first movable arm (501) and the second movable arm (502) are respectively fixedly connected to the second movable seat (507) and the first movable seat (505). The second movable seat (507) is fixedly connected to the second pressing plate (506) on both sides. The first movable seat (505) is fixedly connected to the first pressing plate (503) on both sides. The second pressing plate (506) is rotatably provided with a second movable block (508) on the side facing the first pressing plate (503). The side of the first pressing plate (503) near the second pressing plate (506) is fixedly connected to the first movable block (504).

4. The feed palletizing and processing machinery according to claim 3, characterized in that: The bottom of the drive box (3) is provided with a limiting slide groove to accommodate the first movable arm (501) and the second movable arm (502). When the first movable arm (501) moves, it drives the second pressing plate (506) and the second movable seat (507) to move. When the second movable arm (502) moves, it drives the first movable seat (505) and the first pressing plate (503) to move.

5. The feed palletizing and processing machinery according to claim 4, characterized in that: The driving device includes a bidirectional telescopic rod (603), which is located on the side of the movable seat two (507) away from the movable seat one (505). Movable racks (604) are fixedly arranged on both sides of the bidirectional telescopic rod (603). An adjusting gear (605) is meshed with the bottom of the movable rack (604), and the adjusting gear (605) is connected to the front of the movable block two (508).

6. The feed palletizing and processing machinery according to claim 5, characterized in that: It also includes a torsion mechanism (6), which includes a protective shell (601), the protective shell (601) being fixedly connected to the side of the pressure plate (506) away from the movable block (508), and the movable seat (507) being fixedly connected to the side of the movable seat (505) away from the movable seat (505) with the protective shell (602).

7. The feed palletizing and processing machinery according to claim 6, characterized in that: The telescopic end of the bidirectional telescopic rod (603) passes through the second protective shell (602) and the first protective shell (601) and extends into the first protective shell (601) and is fixedly connected to the moving rack (604). The rotating shaft (606) is fixedly connected to the second movable block (508). The front end of the rotating shaft (606) passes through the second pressing plate (506) and the first protective shell (601) and extends to the front side of the first protective shell (601). When the bidirectional telescopic rod (603) drives the moving rack (604) to move, the moving rack (604) drives the adjusting gear (605) meshing with it at the bottom to rotate, and drives the second movable block (508) behind the adjusting gear (605) to rotate 180 degrees.

8. The feed palletizing and processing machinery according to claim 7, characterized in that: The bidirectional telescopic rod (603) is located inside the second protective shell (602), and the middle part of the adjusting gear (605) is fixedly connected to the outer surface of the rotating shaft (606).

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