Automatic seed bag grabbing and carrying device

Abstract

An automatic seed bag grabbing and carrying device comprises a frame, a sliding table system, a pneumatic system and a grabbing system, and a containing space of a seed soaking box and an operation space of the grabbing system are formed on the inner side of the frame. The sliding table system comprises an X-axis sliding table, a Y-axis sliding table and a Z-axis sliding table, the pneumatic system comprises a lifting air cylinder fixing base, a lifting air cylinder and a grabbing telescopic air cylinder, the lifting air cylinder is fixed to the Z-axis sliding table through the lifting air cylinder fixing base and ascends and descends in the vertical direction along with the Z-axis sliding table, and the top of the grabbing telescopic air cylinder is installed at the tail end of the lifting air cylinder. The grabbing system comprises a grabbing hand top plate, a grabbing telescopic air cylinder top plate, a grabbing hand supporting plate and grabbing hands, the middle of the grabbing hand top plate is fixed to the lower end face of a grabbing telescopic air cylinder, the two ends of the grabbing hand top plate are hinged to the grabbing hands correspondingly, and the grabbing telescopic air cylinder top plate is fixed to the end of an air cylinder rod of the grabbing telescopic air cylinder. The two ends of the gripper supporting plate are connected with the top plate of the gripping telescopic air cylinder and a fixed hinge point in the middle of the gripper correspondingly. Therefore, the carrying efficiency of the seed soaking bag can be improved.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural equipment, and particularly relates to an automatic seed bag grabbing and transporting device. Background Art

[0002] The traditional seed soaking process is time-consuming and laborious, and a large amount of manual participation is required during the seed soaking and transportation processes. To improve work efficiency and save labor costs, an automatic seed bag grabbing and transporting device is urgently needed to improve the labor efficiency and automation level during the seed soaking and transportation processes and promote agricultural development. Summary of the Utility Model

[0003] The purpose of the utility model is to provide an automatic seed bag grabbing and transporting device, which is efficient and greatly improves labor efficiency.

[0004] To achieve the above purpose, the utility model adopts the following technical solutions: an automatic seed bag grabbing and transporting device, comprising: a frame, a slide table system supported on the upper side of the frame, a pneumatic system, and a grabbing system. Among them, the slide table system includes: an X-axis slide table that reciprocates in the X direction relative to the frame, a Y-axis slide table that reciprocates longitudinally along the X-axis slide table, and a Z-axis slide table that reciprocates longitudinally along the Y-axis slide table and reciprocates in the vertical direction of the frame. The pneumatic system includes: a lifting cylinder fixing seat, a lifting cylinder, and a grabbing telescopic cylinder. Among them, the lifting cylinder is fixed on the Z-axis slide table through the lifting cylinder fixing seat and rises and falls along the vertical direction with the Z-axis slide table. The top of the grabbing telescopic cylinder is installed at the end of the lifting cylinder. The grabbing system includes: a gripper top plate, a grabbing telescopic cylinder top plate, a gripper support plate, and a gripper. Among them, the middle of the gripper top plate is fixed on the lower end face of the grabbing telescopic cylinder, and both ends of the gripper top plate are respectively hinged to the gripper. The grabbing telescopic cylinder top plate is fixed at the end of the cylinder rod of the grabbing telescopic cylinder, and both ends of the gripper support plate are respectively connected to the grabbing telescopic cylinder top plate and the fixed hinge point in the middle of the gripper.

[0005] Preferably, the frame forms an accommodation space for placing a seed soaking box and an operation space for the grabbing system inside.

[0006] Preferably, the frame surrounds and forms an opening or a switch door for the entry and exit of the seed soaking box on at least one side.

[0007] Preferably, supports or moving wheels are installed below the frame.

[0008] Preferably, the frame is an aluminum alloy profile splicing frame, and the bottom border of the frame is open or forms a slope on at least one side.

[0009] Preferably, the frame is covered with a transparent or semi-transparent material.

[0010] Preferably, servo motors are installed at the ends of the X-axis slide, Y-axis slide, and Z-axis slide. The X-axis slide includes two independent slides arranged side by side, and is connected in series by a transmission shaft installed on one of the independent slides to achieve linkage.

[0011] Preferably, the X-axis slide is driven by a synchronous belt, and the Y-axis slide, Z-axis slide, and transmission shaft are driven by lead screws.

[0012] Preferably, a module for reciprocating movement including a ball screw, a linear guide, and a slider is provided in the slide system.

[0013] Preferably, the pneumatic system further includes a cylinder connecting plate, and the top of the grasping telescopic cylinder is installed at the end of the lifting cylinder through the cylinder connecting plate.

[0014] The beneficial effects of the present utility model are as follows: It has precise positioning, can greatly improve the handling efficiency of the seed soaking bags, and has the advantages of high intelligence, convenience, and high efficiency. Description of the Drawings

[0015] In order to more clearly illustrate the embodiments of the present utility model, the following will describe the embodiments in conjunction with the drawings.

[0016] Figure 1 It is a schematic structural diagram of the automatic grasping and handling device for seed bags in the embodiment of the present utility model.

[0017] Figure 2 It is a schematic structural diagram of the grasping system in the device. Detailed Embodiments

[0018] The exemplary embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and shown in the drawings are intended to teach the principles of the present utility model so that those skilled in the art can implement and use the present utility model in several different environments and for several different applications. Therefore, the protection scope of the present utility model is defined by the appended claims, and the exemplary embodiments are not intended to, and should not be considered as, a restrictive description of the protection scope of the present utility model. Moreover, for the convenience of description, the dimensions of the various parts shown in the drawings are not necessarily drawn in actual proportional relationships. Regarding the orientation description, such as the orientation or positional relationship indicated by up, down, left, right, top, bottom, etc., is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the present utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. When it may cause confusion or difficulty in observing and understanding the present disclosure, the conventional structure or local structure will be omitted. Unless otherwise specifically stated, the order of the components and assembly steps and the numerical values set forth in the embodiments do not limit the scope of the present utility model.

[0019] As Figures 1 to 2 shown, a seed bag automatic grasping and handling device according to an embodiment of the present utility model includes a frame 1, a slide table system 2, a pneumatic system 3, a grasping system 4, and a seed soaking tank 5.

[0020] The frame 1 is a spliced frame made of aluminum alloy profiles. An accommodation space for placing the seed soaking tank 5 and an operation space for the grasping system 4 are formed inside. The slide table system 2 is supported above, for example, on the top side. A grounded support or moving wheels are installed below, and an opening large enough for the seed soaking tank 5 to enter and exit is formed by surrounding at least one side. Among them, the bottom border of the frame 1 forms a slope for easy loading and unloading at the at least one side opening, so as to directly push the frame 1 above the seed soaking tank 5 or directly push the seed soaking tank 5 into the accommodation space of the frame 1.

[0021] The slide table system 2 is used to drive, adjust, and position the orientation of the grasping system 4 relative to the seed soaking tank 5, and includes: being able to move relative to the frame 1 in the X direction (for example Figure 1An X-axis slide table 22 that reciprocates horizontally in the left-right-middle direction, a Y-axis slide table 23 that can reciprocate longitudinally along the X-axis slide table 22, a Z-axis slide table 24 that can reciprocate longitudinally along the Y-axis slide table 23 and can reciprocate in the vertical direction of the frame 1, and a transmission shaft 25. Among them, servo motors 21 are installed at the ends of the X-axis slide table 22, the Y-axis slide table 23, and the Z-axis slide table 24, and the servo motors 21 provide the power required for relative movement. Here, the X-axis slide table 22 includes two independent slide tables arranged side by side, which are connected in series by a transmission shaft 25 installed on one of the independent slide tables to achieve linkage, that is, to achieve the synchronous movement of the two independent slide tables, so as to adjust the orientation of the X-axis slide table 22 above the frame 1. Thus, a three-axis automatic positioning system can be constituted.

[0022] The pneumatic system 3 includes: a lifting cylinder fixing seat 31, a lifting cylinder 32, a cylinder connecting plate 33, and a grasping telescopic cylinder 34. Among them, the lifting cylinder 32 is fixed on the Z-axis slide table 24 through the lifting cylinder fixing seat 31 and moves up and down in the vertical direction along with the Z-axis slide table 24. The top of the grasping telescopic cylinder 34 is installed at the end of the lifting cylinder 32 through the cylinder connecting plate 33.

[0023] The grasping system 4 includes: a gripper top plate 41, a grasping telescopic cylinder top plate 42, a gripper support plate 43, and a gripper 44. Among them, the middle of the gripper top plate 41 is fixed to the lower end face of the grasping telescopic cylinder 34, and the two ends are respectively hinged to the gripper 44. The grasping telescopic cylinder top plate 42 is fixed to the end of the cylinder rod 35 (partially shown) of the grasping telescopic cylinder 34 and is locked by a nut. The two ends of the gripper support plate 43 are respectively connected to the grasping telescopic cylinder top plate 42 and the fixed hinge points in the middle of the gripper 44 through pin shafts. By the expansion and contraction of the grasping telescopic cylinder 34, the opening and closing of the gripper 44 are realized. In this way, when the gripper 44 is opened, it can grasp the seed bag, pick up the seed bag and soak it in the water of the seed soaking tank 5 by using the slide table system 2.

[0024] In one embodiment, the voltage of each servo motor is DC24V and the power is 400w. The X-axis slide table 22 is driven by a synchronous belt, and the Y-axis slide table 23, the Z-axis slide table 24, and the transmission shaft 25 are driven by lead screws.

[0025] In one implementation scenario, the module that can be used for reciprocating movement is mainly composed of a ball screw, a linear guide, and a slider. By driving the rotation of the ball screw by a corresponding servo motor, the slider is driven to move linearly. Thus, the three-axis automatic positioning system is not limited to the X-axis slide table 22 including two independent slide tables arranged side by side. At this time, the X-axis slide table 22 can also be only one reciprocating movement module. The Y-axis slide table 23 slides longitudinally along the X-axis slide table 22, driving the Z-axis slide table 24 to reciprocate in the X and Y directions, and using the pneumatic system 3 fixed to the Z-axis slide table 24 to realize the action of the grasping system 4.

[0026] All components of the grasping system 4 are made of aluminum alloy and are designed for lightweight.

[0027] The moving speeds of the X-axis slide 22, Y-axis slide 23, and Z-axis slide 24 of the slide system 2 are all 10 cm / s.

[0028] The horizontal load of the X-axis slide 22 is 300 kg, the vertical load of the Y-axis slide 23 is 300 kg, and the vertical load of the Z-axis slide 24 is 400 kg.

[0029] In the pneumatic system 3, the stroke of the lifting cylinder 32 is 500 mm, and the stroke of the grasping telescopic cylinder 34 is 100 mm.

[0030] The minimum opening size of the gripper 44 of the grasping system 4 is 240 mm, and the maximum opening size is 430 mm.

[0031] The above exemplifies the frame 1 with a side opening, but it is not limited thereto. For example, the frame 1 can be coated with a transparent or translucent material, and a switch door can be provided at the opening for the soaking tank 5 to enter and exit, so as to protect the inner working space and the food safety at night, and the inner working condition can be observed from the outside.

[0032] Thus, the automatic seed bag grasping and transporting device according to the present utility model can accurately position, greatly improve the transporting efficiency of the soaking bags, and has the advantages of high intelligence, convenience and high efficiency.

[0033] In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise clearly and specifically defined. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations. Although the present invention has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present invention is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. A seed bag automatic grabbing and handling device, characterized in that: include: A frame (1), a slide system (2) supported on the upper side of the frame (1), a pneumatic system (3) and a gripping system (4), wherein the slide system (2) includes: an X-axis slide (22) that reciprocates in the X direction relative to the frame (1), a Y-axis slide (23) that reciprocates along the longitudinal direction of the X-axis slide (22), and a Z-axis slide (24) that reciprocates along the longitudinal direction of the Y-axis slide (23) and reciprocates along the vertical direction of the frame (1), and the pneumatic system (3) includes: a lifting cylinder fixing seat (31), a lifting cylinder (32), and a gripping telescopic cylinder (34), wherein the lifting cylinder (32) is fixed to the Z-axis slide (24) via the lifting cylinder fixing seat (31). The top of the grabbing telescopic cylinder (34) is mounted on the Z-axis slide (24) and rises and falls in the vertical direction. The top of the grabbing telescopic cylinder (34) is installed at the end of the lifting cylinder (32). The grabbing system (4) comprises: a gripper top plate (41), a grabbing telescopic cylinder top plate (42), a gripper support plate (43) and a gripper (44). The middle of the gripper top plate (41) is fixed to the lower end surface of the grabbing telescopic cylinder (34), the two ends of the gripper top plate (41) are respectively hinged to the gripper (44), the grabbing telescopic cylinder top plate (42) is fixed to the end of the cylinder rod (35) of the grabbing telescopic cylinder (34), and the two ends of the gripper support plate (43) are respectively connected to the fixed hinge points in the middle of the grabbing telescopic cylinder top plate (42) and the gripper (44).

2. The automatic seed bag grabbing and handling device according to claim 1 is characterized in that: The frame (1) is provided with a storage space for placing a seed soaking box (5) and an operating space for a gripping system (4) on the inner side.

3. The automatic seed bag grabbing and handling device according to claim 2 is characterized in that: The frame (1) is surrounded on at least one side to form an opening or a switch door for the seed soaking box (5) to enter and exit.

4. The automatic seed bag grabbing and handling device according to claim 1, characterized in that: A support or moving wheels is installed below the frame (1).

5. The seed bag automatic grabbing and handling device according to claim 1, characterized in that: The frame (1) is a frame made of spliced ​​aluminum alloy profiles, and the bottom frame of the frame (1) is open on at least one side or forms a slope.

6. The automatic seed bag grabbing and handling device according to claim 5, characterized in that: The frame (1) is covered with a transparent or translucent material.

7. The automatic seed bag grabbing and handling device according to claim 6, characterized in that: Servo motors (21) are installed at the ends of the X-axis slide (22), the Y-axis slide (23) and the Z-axis slide (24). The X-axis slide (22) includes two independent slides placed side by side, which are connected in series by a transmission shaft (25) installed on one of the independent slides to achieve linkage.

8. The automatic seed bag grabbing and handling device according to claim 7, characterized in that: The X-axis slide (22) is driven by a synchronous belt, and the Y-axis slide (23), the Z-axis slide (24) and the transmission shaft (25) are driven by screw rods.

9. The automatic seed bag grabbing and handling device according to claim 1, characterized in that: The slide system (2) is provided with a module for reciprocating movement, including a ball screw, a linear guide rail and a slider.

10. The automatic seed bag grabbing and handling device according to claim 1, characterized in that: The pneumatic system (3) further comprises a cylinder connecting plate (33), and the top of the grabbing telescopic cylinder (34) is mounted on the end of the lifting cylinder (32) through the cylinder connecting plate (33).

Images